Precision calculation method and device for movable base station positioning system

Abstract

The embodiment of the invention discloses a precision calculation method and device for a movable base station positioning system, and belongs to the technical field of indoor positioning TOA. The objective of the invention is to improve the positioning precision in a complex and dynamic environment, especially in a scene where a fixed base station cannot be installed. The base station layout is optimized by judging whether the ill-conditioned matrix (namely the condition that the determinant under the matrix representation is close to zero) exists, the occurrence of the ill-conditioned matrix can be effectively avoided, the ill-conditioned matrix generally causes the increase of the positioning error, the base station positions are dynamically selected, the reasonable spacing and layout between the base stations are ensured, and the precision is remarkably improved. According to the mobile base station positioning system, the base station layout is optimized, the positioning precision and flexibility are improved, the mobile base station positioning system can efficiently operate in various complex environments, the safety of a positioning target is ensured, the operation and maintenance cost is reduced, and the mobile base station positioning system has good expansibility and is suitable for popularization and application. Finally, the system shows great application potential and value in current and future positioning requirements.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of indoor positioning TOA, and in particular to an accuracy calculation method and device for a mobile base station positioning system. Background Art

[0002] This application relates to an indoor positioning system based on the TOA (Time of Arrival) positioning method, in which the location information of the tag is determined by measuring the distance from the tag to each base station. This system faces challenges in practical applications, especially the impact of the layout of the base station location on the positioning accuracy. The current technical problems mainly focus on how to optimize the base station layout to improve the positioning accuracy while avoiding positioning errors caused by improper base station location.

[0003] Existing wireless positioning systems rely on accurate distance measurement, but in practical applications, the layout of mobile base stations may cause the system to become an ill-conditioned matrix, which seriously affects the accuracy of the positioning results. Specifically, when the location layout of the base stations makes the determinant of the matrix close to zero, the positioning accuracy will drop significantly. The main influencing factors include the following: In the first case, all base stations are too close. If any two base stations are too close, the determinant of the matrix may be close to 0, making the positioning calculation unstable; in the second case, the base stations are collinear. When all base station positions are close to the same straight line, the determinant of the matrix is ​​close to 0, which also leads to a decrease in positioning accuracy.

[0004] Therefore, how to optimize the layout of base stations and avoid the emergence of pathological matrices is the key to improving positioning accuracy. Summary of the invention

[0005] The embodiment of the present invention provides a method and device for calculating the accuracy of a mobile base station positioning system, which is used to solve the problem of the difficulty of calculating the accuracy of a mobile base station positioning system in the related art. The technical solution is as follows: On the one hand, an embodiment of the present invention provides a method for calculating the accuracy of a mobile base station positioning system, wherein the mobile base station positioning system adopts a TOA positioning method and is composed of a tag and at least three mobile base stations, and the position of each base station is recorded as P i , and record the position of each label as T j , the distance from the tag to each base station is recorded as L ij , wherein i and j are natural numbers, the method comprising: According to the location P of each base station i and the position of each label T j The distance L from each base station ijObtaining a tag position equation for solution, wherein the tag position equation for solution includes a first vector representation, a second vector representation, and a matrix representation; An avoidance scheme for base station layout is determined according to the situation that the determinant under the matrix representation is close to zero, wherein the avoidance scheme for base station layout includes that the movable base stations are not on the same straight line at the same time in the coordinate system or are not at the same point coordinates in pairs.

[0006] Optionally, the position P of each base station i and the position of each label T j The distance L from each base station ij The equations for solving the label position are obtained, including: Randomly select three base stations from the mobile base stations, and the position of each base station in the solution process is recorded as Represent the unit vectors in the x, y, and z directions respectively, and the position of each label is recorded as , and the distance from the tag to each base station is recorded as ; According to the positions P of the three base stations i (i=1,2,3) and the distance L from the label ij (i=1,2,3) The tag position equation is established, and the tag position equation includes a first vector representation, a second vector representation and a matrix representation.

[0007] Optionally, the positions P of the three base stations i (i=1,2,3) and the distance L from the label ij (i=1,2,3) Establish the tag position equation, the tag position equation includes a first vector representation, a second vector representation and a matrix representation, including: Obtain the calculated distances from the tag to the three base stations and the position coordinates of the three base stations, and obtain a target equation group including three equations to be solved respectively; Solve the position T of the tag according to the target equation group j Solution , where k represents the kth extraction of three base stations, and N is the number of base stations; right The coordinates T of the label are obtained by averaging j , the coordinate T j Expressed as ; The distance L from the tag to each base station ij The corresponding formula is differentiated on both sides to obtain the differential expression: ; The differential expression is converted into a matrix expression and recorded as , where the vector is the first vector representation, vector is the second vector representation, is the matrix representation.

[0008] Optionally, determining an avoidance solution for base station layout according to a situation where the determinant under the matrix representation is close to zero includes: Calculate the case where the matrix representation A is zero; An avoidance scheme for base station layout is determined according to the positions of the base stations corresponding to the case where the matrix represents A is zero.

[0009] Optionally, determining an avoidance scheme for base station layout according to each base station position corresponding to the case where the matrix representation A is zero includes: Get the position P in the case of being on the same straight line i The position coordinates of (i=1,2,3) are recorded as the matrix represents the case where A is zero.

[0010] Optionally, determining an avoidance scheme for base station layout according to each base station position corresponding to the case where the matrix representation A is zero includes: The position coordinates of two base stations whose distance between the base stations meets the preset short distance are obtained, which is recorded as the case where the matrix representation A is zero.

[0011] On the other hand, a precision calculation device for a mobile base station positioning system is also provided. The mobile base station positioning system adopts a TOA positioning method and is composed of a tag and at least three mobile base stations. The position of each base station is recorded as P i , and record the position of each label as T j , the distance from the tag to each base station is recorded as L ij , wherein i and j are natural numbers, the device comprising: The equation solving module is used to solve the equation according to the position P of each base station. i and the position of each label T j The distance L from each base station ij Obtaining a tag position equation for solution, wherein the tag position equation for solution includes a first vector representation, a second vector representation, and a matrix representation; The base station layout module is used to determine an avoidance scheme for the base station layout when the determinant under the matrix representation is close to zero, wherein the avoidance scheme for the base station layout includes that the movable base stations are not on the same straight line at the same time in the coordinate system or are not at the same point coordinates in pairs.

[0012] On the other hand, an embodiment of the present invention provides a terminal, which includes a processor and a memory; the memory stores at least one instruction, and the at least one instruction is used to be executed by the processor to implement the accuracy calculation method of the mobile base station positioning system as described above.

[0013] On the other hand, a computer-readable storage medium is provided, wherein the storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the accuracy calculation method of the mobile base station positioning system as described above.

[0014] On the other hand, a computer program product is also provided. The computer program product stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the accuracy calculation method of the mobile base station positioning system as described above.

[0015] The technical effects brought about by this application are at least as follows.

[0016] The present application relates to a movable base station positioning system based on the TOA positioning method for an indoor positioning system, which aims to improve the positioning accuracy in complex and dynamic environments, especially in scenarios where fixed base stations cannot be installed. In this method, the base station layout is optimized by judging whether there is an ill-conditioned matrix (i.e., the case where the determinant under the matrix representation is close to zero). The system can effectively avoid the appearance of ill-conditioned matrices, which usually lead to increased positioning errors. The present application significantly improves the accuracy by dynamically selecting the base station location to ensure the reasonable spacing and layout between the base stations. The movable base station positioning system of the present application optimizes the base station layout, improves the positioning accuracy and flexibility, can operate efficiently in a variety of complex environments, ensures the safety of the positioning target, reduces the operation and maintenance costs, and has good scalability. These technical effects and beneficial effects make the system show great application potential and value in current and future positioning needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram showing a flow chart of a method for calculating the accuracy of a mobile base station positioning system provided by an embodiment of the present invention; Figures 2 to 6 A schematic diagram of the layout scenario of a mobile base station. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0019] The term "multiple" as used herein refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0020] First, the application scenarios of this application are illustrated with examples.

[0021] The accuracy calculation method of the mobile base station positioning system is applied to special scenarios where environmental technical facilities cannot be supported. The core is to achieve high-precision positioning through mobile base stations, especially in special scenarios where fixed base stations cannot be installed.

[0022] For fire emergency rescue scenarios, during the implementation process, at the fire scene, rescuers can carry mobile base stations and quickly deploy them to different locations at the accident site; the tags carried by rescuers use TOA positioning technology to measure the distance with the mobile base station and obtain the location in real time; due to possible obstructions and dynamic changes at the scene, the flexibility of the mobile base station ensures that the rescue team can maintain contact and positioning in a constantly changing environment. In this scenario, compared with the positioning method of fixed base stations, which take a lot of time to install and cannot flexibly adjust their positions as the fire situation changes, mobile base stations can quickly adapt to on-site conditions to ensure the safety and efficiency of rescuers.

[0023] For scientific expeditions in scenic areas, during the implementation process, scientific expedition personnel can set up multiple mobile base stations as needed during the expedition to cover a wide area; through real-time positioning, the sample collection location can be accurately recorded and the safety of team members can be guaranteed. In this scenario, compared with the positioning method of fixed base stations, in complex natural environments, fixed base stations may not be able to cover all areas and need to cope with terrain changes. Mobile base stations allow scientific expedition teams to flexibly adjust the layout to ensure the accuracy of data and the timeliness of location records.

[0024] For hikers and cave explorers, during the implementation process, hikers and tourists can use portable mobile base stations to ensure positioning while on the move; the base station communicates with the device of each positioning target and updates the location information in real time. In this scenario, compared with the positioning method of fixed base stations, hiking and cave exploration are often in remote areas where fixed base stations cannot be installed. The movable base station provides the necessary flexibility to maintain high-precision positioning during dynamic movement.

[0025] For the rescue scenario where the elderly have lost the tour group and tourists, during the implementation process, if the elderly or tourists are separated from the group during the tour, mobile base stations can be deployed immediately to locate their last known location; through TOA technology, the location information of the rescued person can be quickly obtained and provided to the rescue team. In this scenario, compared with the positioning method of fixed base stations, tourist attractions are usually crowded and complex, and fixed base stations are difficult to cover every corner. The immediate deployment of mobile base stations can quickly obtain location information in an emergency and ensure the efficiency of the search and rescue operation.

[0026] In summary, compared with the technologies used in fixed base stations such as WiFi, Bluetooth and UWB in related technologies, these technologies install fixed base stations and cannot dynamically adjust the layout, especially in environments with obstructions or weak signals, the positioning accuracy is greatly reduced. In addition, the satellite signals of common satellite positioning technologies are easily interfered with in environments such as high-rise buildings and trees, resulting in inaccurate positioning, and thus unable to effectively locate in areas without signals.

[0027] It can be seen that the design and application of the movable base station in this application demonstrates its necessity and flexibility in the scenarios given. Compared with the prior art, the mobile base station can provide higher adaptability and accuracy, especially when fixed base stations cannot be installed. Ensuring the safety and positioning accuracy of operators carrying tags in complex environments through reasonable layout and flexible deployment is an important guarantee for achieving efficient rescue and exploration.

[0028] Thus, the application scenarios of the present application are illustrated by way of example, and the specific method flow and principles involved are described below.

[0029] like Figure 1 As shown, it shows a flow chart of an accuracy calculation method of a mobile base station positioning system provided by an embodiment of the present invention.

[0030] It should be noted that the mobile base station positioning system adopts the TOA positioning method and is composed of a tag and at least three mobile base stations. The position of each base station is recorded as P i , and record the position of each label as T j , the distance from the tag to each base station is recorded as L ij , wherein i and j are natural numbers, the method comprising: Step 101: Based on the position P of each base station i and the position of each label T j The distance L from each base station ij A tag position equation for solution is obtained, wherein the tag position equation for solution includes a first vector representation, a second vector representation, and a matrix representation.

[0031] Step 102, determining an avoidance scheme for base station layout according to the situation that the determinant under the matrix representation is close to zero, wherein the avoidance scheme for base station layout includes that the movable base stations are not on the same straight line at the same time in the coordinate system or are not at the same point coordinates in pairs.

[0032] It should be noted that the accuracy calculation method of the mobile base station positioning system provided in the present application provides a method for determining whether there is a pathological matrix based on theoretical analysis. The avoidance scheme for the base station layout cited satisfies a certain positional relationship, and "not being on the same straight line at the same time or not being on the same point coordinates" are two more obvious position situations under this positional relationship. In addition to this, it also includes avoidance schemes that do not satisfy this positional relationship.

[0033] In addition, it should be understood that in actual projects, due to the shape and mobility of base stations, it is impossible to absolutely avoid the layout of base stations based on the condition of "not being on the same straight line at the same time or not being at the same point coordinates". Instead, it is understood approximately. The following explains the principle of the position relationship and analyzes and explains the base station distance relationship that needs to be met for the approximation.

[0034] like Figures 2 to 4 As shown, it shows a scene including a label T j With base station P i (i=1,2,3), that is, there are 3 movable base stations.

[0035] As you can see, Figure 2 The base stations in the system are not on the same straight line at the same time or are not on the same point coordinates. Figure 3 It can be seen that when P1 and P2 are far apart, P1, P2 and P3 are approximately on the same straight line at the same time; Figure 4 It can be seen that although P1 and P3 are far apart, P2 and P3 are close, so P2 and P3 are approximately at the same coordinate point.

[0036] It can be seen that the distance relationship between each base station can be used to further analyze the base station location relationship that needs to be considered when avoiding base station layout. The distance is N, where N is the number of base stations. Figure 3 As shown, P i (i=1,2,3) There are 3 base stations. , then there are 3 distances; Figure 5 As shown, P i (i=1,2,3,4) There are 4 base stations. , then there are 6 distances; if Figure 6 As shown, P i(i=1,2,3,4,5) There are 5 base stations. , then there are 10 distances.

[0037] In a possible implementation manner, at each base station If the ratio of the minimum distance to the maximum distance in the distance is less than the preset engineering value, the base station layout needs to be avoided during implementation, which will cause a sick matrix. For example, the preset engineering value is set to 5%. It should be noted that the preset engineering value is not fixed in actual application, but is dynamically adjusted according to different scenarios and needs.

[0038] The definition and function of preset engineering values ​​are explained as follows.

[0039] The preset engineering value is used to measure the relative distance between base stations. When the ratio of the minimum distance to the maximum distance between base stations is lower than this value, the base station layout is considered to have a potential ill-conditioned matrix problem, which in turn affects the positioning accuracy. The setting of this value needs to be adjusted based on the specific application scenario, environmental complexity, and positioning accuracy requirements. Usually, a suitable range of values ​​can be obtained through experiments or simulations based on previous experience or engineering requirements.

[0040] The basis for selecting the preset engineering values ​​is explained below.

[0041] Environmental characteristics: In open spaces, the preset engineering value can be set smaller because the signal attenuation is less and obstacles have less impact on positioning; in complex environments, such as urban high-rise buildings and forests, the signal will be affected by buildings, ground and other obstacles, causing the signal to propagate to the receiver along multiple paths. The propagation time of each path is different, causing the signal to be delayed at the receiver and cause multipath interference. At this time, when selecting the base station layout, the preset engineering value should be set larger to reduce the impact of the multipath effect, thereby ensuring the reliability of the base station layout.

[0042] Positioning accuracy requirements: For scenarios such as fire rescue and emergency search and rescue that require extremely high positioning accuracy, the preset engineering value is usually set to a stricter value, such as 3% to 5%; for general scenarios (such as scientific research and outdoor adventures), this value can be appropriately relaxed, usually 5% to 10%.

[0043] Base station mobility: Due to the deployment flexibility of mobile base stations, the setting of preset engineering values ​​must also consider the mobility of the base station. When mobile base stations can be adjusted at any time, more flexible layout can be allowed, thereby reducing the sensitivity to preset engineering values.

[0044] The dynamic adjustment and real-time monitoring of preset engineering values ​​are described below.

[0045] In actual operation, the preset engineering values ​​do not have to be determined at once during deployment, but can be dynamically adjusted through real-time monitoring and feedback. For example, at the rescue site, if the distance between base stations is found to have changed abnormally, the positioning system will recalculate the distance between base stations based on real-time data and adjust the layout to ensure that a pathological matrix does not appear. The system can also automatically detect changes in preset engineering values ​​through sensors and monitoring equipment, and promptly prompt the operator to redeploy base stations, or automatically adjust the base station positions to ensure that the entire system always maintains efficient and accurate positioning capabilities in a complex and changing environment. Through dynamic adjustment, the system can not only ensure high-precision positioning under extreme conditions, but also effectively reduce the burden on operators and improve the response speed and accuracy in emergency scenarios.

[0046] The optimization method of preset engineering values ​​is described as follows.

[0047] Technicians can continuously optimize the specific numerical range of the preset engineering value through a series of simulations and experiments. For example, in a variety of actual application scenarios, large sample data collection and error analysis are performed to find the most appropriate preset engineering value in a specific environment. Through multiple experiments and scenario tests, the engineering value suitable for a certain type of environment and task is gradually determined to ensure the optimal state of base station layout and signal transmission, thereby ensuring the stability of the overall system performance.

[0048] Therefore, the situations that need to be avoided when laying out the base stations are obtained from the distance relationship between the base stations. Considering the more obvious situations, the avoidance scheme for the base station layout includes that the movable base stations are not on the same straight line at the same time in the coordinate system or are not at the same coordinate point in pairs.

[0049] Of course, in actual applications, the layout of base stations is not always fixed. Technicians can dynamically adjust the base station positions based on real-time measurement data to avoid the emergence of pathological matrices. For example, in a fire rescue scenario, rescuers can monitor in real time whether the ratio of the minimum distance to the maximum distance between base stations is less than the preset engineering value, and adjust the position of each base station according to the preset engineering value to ensure that the positioning system always remains efficient.

[0050] The principles of step 101 and step 102 are explained below.

[0051] For step 101, content one and content two are included.

[0052] Content 1: randomly select three base stations from the N movable base stations, wherein the positions of the N movable base stations are recorded as Represent the unit vectors in the x, y, and z directions respectively, and the position of the label is , and the distance from the tag to each base station is recorded as .

[0053] Among them, the symbol It means to find the length of a vector, or to find its absolute value. So our question becomes, how to find the absolute value of a vector when we know and When the accuracy (or error) of the label is certain, What factors will affect the solution accuracy?

[0054] To this end, the solution provided is to first find a , solve The coordinate method is There are N, and The coordinates of have three variables: x j ,y j 、z j , so when we encounter the overdetermined problem, we will solve it through the second content below.

[0055] Content 2: According to the positions P of the three base stations i (i=1,2,3) and the distance L from the label ij (i=1,2,3) Establish the equation for solving the label position.

[0056] In a possible implementation, first, the calculated distances from the tag to the three base stations and the position coordinates of the three base stations are obtained, and a target equation group including three equations to be solved is obtained respectively.

[0057] Secondly, the position T of the tag is solved according to the target equation group j Solution , where k represents the kth extraction of three base stations, and N is the number of base stations. j The distances to the three base stations and the location coordinates of the three base stations can be calculated using the three equations. j A solution of , assuming In this way, for the three different base stations extracted for the kth time, T can also be obtained. j A solution to , select 3 out of N with a total of combinations, so we can get indivual .

[0058] Furthermore, The coordinates T of the label are obtained by averaging j , the coordinate T j Expressed as .

[0059] The above method is just an example. There are other variants. The following focus is on analyzing How does the error in T j The coordinates of x have three variables j ,y j 、z j Observing the above problem, we find that the positions of the three base stations P i and corresponding , find a ,and The accuracy of T j Therefore, the T j The specific research process of the accuracy problem is as follows.

[0060] Next, the distance L from the tag to each base station is ij The corresponding formula is differentiated on both sides to obtain the differential expression: .

[0061] Finally, the differential expression is converted into a matrix expression and recorded as , where the vector is the first vector representation, vector is the second vector representation, is the matrix representation.

[0062] Written in a figurative way: .

[0063] Assume that the inverse of matrix A is , then we can solve equation (5) to get ,get .

[0064] For step 102, content three and content four are included.

[0065] Content three, calculate the case where the matrix representation A is zero.

[0066] Content 4: Determine an avoidance plan for base station layout based on the positions of each base station corresponding to the case where the matrix represents A is zero.

[0067] As for why A is calculated to be zero, the following analysis is given.

[0068] because is the source variable, that is, due to L ij , The measurement of The change of x j ,y j 、z j The calculation error of dx j,dy j and dz j , rather than due to dx j ,dy j and dz j Produced This problem is transformed into a matrix problem: It is required to find the positions P of the three base stations. i , Known, how to get P i In order to make dx j ,dy j and dz j can be solved. Assume that is constant, because we assume that the ranging error is constant. According to the knowledge of linear algebra, when the determinant of A is equal to 0, it cannot be obtained by Solve ; When A is an ill-conditioned matrix, The solution is unstable. Therefore, under what circumstances A becomes an ill-conditioned matrix straight line, which becomes a base station layout that needs to be avoided.

[0069] In a possible implementation, in case 1, the positions P in the case where both are on the same straight line are obtained. i The position coordinates of (i=1,2,3) are recorded as the matrix represents the case where A is zero.

[0070] when When they are on the same straight line at the same time, the determinant of A is equal to 0. The closer they are to a straight line, the closer the determinant of A is to 0. The proof is as follows: On the same straight line, the vector Parallel to vector , then there exists k such that , substitute The expression of If we multiply the first row of A by , the second row is multiplied by , and then add it to the third row, the third row becomes all 0, so the determinant of A is equal to 0. Obviously The closer they are to the same straight line, the closer the determinant of A is to 0.

[0071] In another possible implementation, case 2, the position coordinates of two base stations at the same point coordinates are obtained, which is recorded as the case where the matrix representation A is zero. Any two of are very close, and the closer they are, the closer the determinant of A is to 0. This is because, assuming near , then the first two rows of A are close to being equal. According to the theory of determinants, for a certain N-order square matrix, if one row is multiplied by a certain coefficient k and added to another row, the determinant of the matrix remains unchanged, or if multiple rows are multiplied by different coefficients and then added to a certain row, then similarly, the determinant of the matrix remains unchanged. In this way, if the first row is multiplied by -1 and then added to the second row, each element of the second row is close to 0, then the determinant is close to 0.

[0072] The present application relates to a mobile base station positioning system based on a TOA positioning method, which aims to improve positioning accuracy in complex and dynamic environments, especially in scenarios where fixed base stations cannot be installed.

[0073] In this method, the base station layout is optimized by judging whether there is an ill-conditioned matrix (i.e., the determinant under the matrix representation is close to zero). The system can effectively avoid the occurrence of ill-conditioned matrices, which usually lead to increased positioning errors. This application dynamically selects the base station location to ensure the reasonable spacing and layout between base stations, significantly improving the accuracy. Specific effects include: Accurate measurement: By optimizing the layout of base stations, the error in the ranging process is minimized, thereby improving the calculation accuracy of the tag position; Flexible and adaptable, mobile base stations can quickly adapt to the environment in a dynamic environment, ensuring flexible layout in different scenarios and maximizing signal coverage.

[0074] This method also improves flexibility and adaptability. The design of the mobile base station system enables it to be used in a variety of complex environments, such as fire rescue, scientific investigation, outdoor adventure and other scenarios, including: Dynamic deployment: base stations can be quickly deployed based on actual needs and environmental changes, allowing the system to maintain effective positioning capabilities in ever-changing situations; Wide coverage: Compared with fixed base stations, mobile base stations can adjust the base station layout at any time based on the topography and other structural features of the application scenario, further avoiding signal blind spots and making the signal coverage area wider, especially in environments with complex terrain or signal obstruction; This method also provides safety assurance. In emergency rescue and special activities, accurate positioning information is crucial to the safety of the target, including: Emergency response: During rescue operations, the immediate deployment of mobile base stations enables rescue teams to quickly find trapped people carrying tags, reducing rescue time and increasing the success rate; Team collaboration: Through real-time positioning, team members can maintain good communication and coordination to ensure collective safety.

[0075] This approach is also cost-effective in terms of operation and maintenance. Compared with building fixed base stations, the use of mobile base stations can significantly reduce deployment and maintenance costs, including: Saves infrastructure and reduces the need for construction and maintenance of fixed base stations, especially in places that are difficult to access or for temporary activities; Resource optimization: utilizing the reusability of existing mobile base stations to optimize resource allocation and improve work efficiency.

[0076] In addition, the mobile base station design of this system has good scalability and can adapt to more application scenarios in the future. It can be widely used in various scenarios that require high-precision positioning. In the future, it can be combined with emerging technologies (such as 5G, Internet of Things, etc.) to further improve system performance.

[0077] It should be noted that with the advancement of technology, the system can be continuously updated and iterated to adapt to more complex positioning needs.

[0078] In summary, the mobile base station positioning system of this application can operate efficiently in a variety of complex environments by optimizing the base station layout, improving positioning accuracy and flexibility, ensuring safety, reducing operation and maintenance costs, and having good scalability. These technical effects and beneficial effects make the system show great application potential and value in current and future positioning needs.

[0079] On the other hand, a precision calculation device for a mobile base station positioning system is provided. The mobile base station positioning system adopts a TOA positioning method and is composed of a tag and at least three mobile base stations. The position of each base station is recorded as P i , and record the position of each label as T j , the distance from the tag to each base station is recorded as L ij , wherein i and j are natural numbers, the device comprising: The equation solving module is used to solve the equation according to the position P of each base station. i and the position of each label T j The distance L from each base station ij Obtaining a tag position equation for solution, wherein the tag position equation for solution includes a first vector representation, a second vector representation, and a matrix representation; The base station layout module is used to determine an avoidance scheme for the base station layout according to the situation that the determinant under the matrix representation is close to zero, wherein the avoidance scheme for the base station layout includes that the movable base stations are not on the same straight line at the same time in the coordinate system or are not at the same point coordinates in pairs.

[0080] Optionally, the equation solving module includes: The first solving unit is used to select three base stations from the movable base stations at random. The position of each base station in the solving process is recorded as Represent the unit vectors in the x, y, and z directions respectively, and the position of each label is recorded as , and the distance from the tag to each base station is recorded as ; The second solving unit is used to solve the problem according to the positions P of the three base stations. i (i=1,2,3) and the distance L from the label ij (i=1,2,3) The tag position equation is established, and the tag position equation includes a first vector representation, a second vector representation and a matrix representation.

[0081] Optionally, the second solving unit is further used for: Obtain the calculated distances from the tag to the three base stations and the position coordinates of the three base stations, and obtain a target equation group including three equations to be solved respectively; Solve the position T of the tag according to the target equation group j Solution , where k represents the kth extraction of three base stations, and N is the number of base stations; right The coordinates T of the label are obtained by averaging j , the coordinate T j Expressed as ; The distance L from the tag to each base station ij The corresponding formula is differentiated on both sides to obtain the differential expression: ; The differential expression is converted into a matrix expression and recorded as , where the vector is the first vector representation, vector is the second vector representation, is the matrix representation.

[0082] Optionally, the base station layout module includes: A first layout unit, used to calculate the case where the matrix representation A is zero; The second layout unit is used to determine an avoidance scheme for base station layout according to each base station position corresponding to the case where the matrix representation A is zero.

[0083] Optionally, the second layout unit is further used to obtain the position P in the case where the positions are on the same straight line. i The position coordinates of (i=1,2,3) are recorded as the matrix represents the case where A is zero.

[0084] Optionally, the second layout unit is further used to obtain the position coordinates of two base stations whose distance between the base stations meets a preset short distance, which is recorded as the case where the matrix representation A is zero.

[0085] An embodiment of the present invention further provides a computer-readable medium storing at least one instruction, wherein the at least one instruction is loaded and executed by the processor to implement the accuracy calculation method of the mobile base station positioning system as described in the above embodiments.

[0086] An embodiment of the present invention further provides a computer program product, which stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the accuracy calculation method of the mobile base station positioning system as described in the above embodiments.

[0087] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present invention can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0088] The above descriptions are merely optional embodiments of the present invention and are not intended to limit 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 method for calculating the accuracy of a mobile base station positioning system, characterized in that: The mobile base station positioning system adopts the TOA positioning method and is composed of a tag and at least three mobile base stations. The position of each base station is recorded as P i , and record the position of each label as T j , the distance from the tag to each base station is recorded as L ij , wherein i and j are natural numbers, the method comprising: According to the location P of each base station i and the position of each label T j The distance L from each base station ij Obtaining a tag position equation for solution, wherein the tag position equation for solution includes a first vector representation, a second vector representation, and a matrix representation; An avoidance scheme for base station layout is determined according to the situation that the determinant under the matrix representation is close to zero, wherein the avoidance scheme for base station layout includes that the movable base stations are not on the same straight line at the same time in the coordinate system or are not at the same point coordinates in pairs.

2. The method according to claim 1, characterized in that According to the position P of each base station i and the position of each label T j The distance L from each base station ij The equations for solving the label position are obtained, including: Randomly select three base stations from the mobile base stations, and the position of each base station in the solution process is recorded as Represent the unit vectors in the x, y, and z directions respectively, and the position of each label is recorded as , and the distance from the tag to each base station is recorded as ; According to the positions P of the three base stations i (i=1,2,3) and the distance L from the label ij (i=1,2,3) The tag position equation is established, and the tag position equation includes a first vector representation, a second vector representation and a matrix representation.

3. The method according to claim 2, characterized in that According to the positions P of the three base stations i (i=1,2,3) and the distance L from the label ij (i=1,2,3) Establish the tag position equation, the tag position equation includes a first vector representation, a second vector representation and a matrix representation, including: Obtain the calculated distances from the tag to the three base stations and the position coordinates of the three base stations, and obtain a target equation group including three equations to be solved respectively; Solve the position T of the tag according to the target equation group j Solution , where k represents the kth extraction of three base stations, and N is the number of base stations; right The coordinates T of the label are obtained by averaging j , the coordinate T j Expressed as ; The distance L from the tag to each base station ij The corresponding formula is differentiated on both sides to obtain the differential expression: ； The differential expression is converted into a matrix expression and recorded as , where the vector is the first vector representation, vector is the second vector representation, is the matrix representation.

4. The method according to claim 3, characterized in that The step of determining a solution to avoid base station layout according to the situation that the determinant under the matrix representation is close to zero includes: Calculate the case where the matrix representation A is zero; An avoidance scheme for base station layout is determined according to the positions of the base stations corresponding to the case where the matrix represents A is zero.

5. The method according to claim 4, characterized in that The step of determining the avoidance scheme for base station layout according to the positions of the base stations corresponding to the case where the matrix representation A is zero includes: Get the position P in the case of being on the same straight line i The position coordinates of (i=1,2,3) are recorded as the matrix represents the case where A is zero.

6. The method according to claim 4, characterized in that The step of determining the avoidance scheme for base station layout according to the positions of the base stations corresponding to the case where the matrix representation A is zero includes: The position coordinates of two base stations whose distance between the base stations meets the preset short distance are obtained, which is recorded as the case where the matrix representation A is zero.

7. An accuracy calculation device for a mobile base station positioning system, characterized in that: The mobile base station positioning system adopts the TOA positioning method and is composed of a tag and at least three mobile base stations. The position of each base station is recorded as P i , and record the position of each label as T j , the distance from the tag to each base station is recorded as L ij , wherein i and j are natural numbers, the device comprising: The equation solving module is used to solve the equation according to the position P of each base station. i and the position of each label T j The distance L from each base station ij Obtaining a tag position equation for solution, wherein the tag position equation for solution includes a first vector representation, a second vector representation, and a matrix representation; The base station layout module is used to determine an avoidance scheme for the base station layout when the determinant under the matrix representation is close to zero, wherein the avoidance scheme for the base station layout includes that the movable base stations are not on the same straight line at the same time in the coordinate system or are not at the same point coordinates in pairs.

8. A terminal, characterized in that: The terminal includes a processor and a memory; the memory stores at least one instruction, and the at least one instruction is used to be executed by the processor to implement the accuracy calculation method of the mobile base station positioning system as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the accuracy calculation method of the mobile base station positioning system as described in any one of claims 1 to 6.

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