Single base station three-dimensional positioning method and system based on rotary UWB

Abstract

The invention discloses a single base station three-dimensional positioning method and system based on a rotary UWB. The method comprises the following steps: collecting state information of a label by double UWB units based on an omnidirectional positioning system; calculating an estimated label position in a navigation coordinate system based on the state information of the label; clustering the estimated label position based on a sliding window method and a DBSCAN clustering algorithm to obtain a clustered label estimation coordinate; and compensating the clustering label estimation coordinate to obtain a label estimation coordinate. The system comprises an omnidirectional positioning system module, an estimated label position calculation module, an estimated coordinate clustering module and a compensation module. According to the invention, the number of base stations in a single area can be effectively reduced, and meanwhile, a relatively accurate positioning service is provided for indoor flight of the unmanned aerial vehicle. The method can be widely applied to the technical field of base station positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of base station positioning, and in particular to a single base station three-dimensional positioning method and system based on rotating UWB. Background Art

[0002] In recent years, with the vigorous development of Internet of Things technology and the continuous improvement of indoor positioning technology, the demand for the application of drones in indoor environments has increased dramatically, while also putting higher requirements on the accuracy and reliability of drone positioning and navigation technology in indoor environments.

[0003] Existing ultra-wideband-based indoor positioning for drones primarily utilizes a multi-base station approach, deploying at least four base stations within a single area to estimate the current location based on sensor information. While multi-base station deployment using existing ultra-wideband (UWB) technology can provide high-precision positioning, it is costly and complex. First, multi-base station deployment requires the installation of multiple UWB base stations within the target area, each with significant hardware and installation costs. The installation of these base stations also requires precise calibration and positioning by specialized technicians to ensure positioning accuracy, increasing the technical difficulty and time required for deployment. Furthermore, to ensure data synchronization and coordination between base stations, the system requires complex network connections and synchronization mechanisms. This not only increases system complexity but also requires ongoing maintenance and management, further increasing operating costs. Therefore, multi-base station deployment using existing ultra-wideband technology faces high costs and complex technical challenges in large-scale applications, limiting its application in cost-sensitive and complex environments. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a single-base station three-dimensional positioning method and system based on rotating UWB, which can effectively reduce the number of base stations in a single area and provide more accurate positioning services for indoor flight of drones.

[0005] The first technical solution adopted by the present invention is: a single-base station three-dimensional positioning method based on rotating UWB, comprising the following steps:

[0006] Dual UWB units based on an omnidirectional positioning system collect the tag's status information;

[0007] Calculating an estimated tag position in a navigation coordinate system based on the state information of the tag;

[0008] Clustering the estimated label positions based on the sliding window method and the DBSCAN clustering algorithm to obtain cluster label estimated coordinates;

[0009] The cluster label estimated coordinates are compensated to obtain label estimated coordinates.

[0010] Furthermore, the tag status information includes the tag angle, the tag distance, and the tag estimated height.

[0011] Furthermore, the step of calculating the estimated tag position in the navigation coordinate system based on the tag state information specifically includes:

[0012] Calculating the three-dimensional positioning circle coordinates of the tag based on the angle of the tag and the distance of the tag;

[0013] Calculating estimated coordinates of the tag at different rotation angles based on the estimated height of the tag and the three-dimensional positioning circle coordinates of the tag;

[0014] The estimated coordinates of the tag at the different rotation angles are converted into the navigation coordinate system to obtain the estimated tag position.

[0015] Furthermore, the step of clustering the estimated label positions based on the sliding window method and the DBSCAN clustering algorithm to obtain cluster label estimated coordinates specifically includes:

[0016] Updating the estimated tag position based on a sliding window method to obtain an updated estimated tag position;

[0017] The updated estimated label positions are clustered based on the DBSCAN clustering algorithm to obtain clustered label estimated coordinates.

[0018] Furthermore, the step of compensating the cluster label estimated coordinates to obtain the label estimated coordinates specifically includes:

[0019] Dividing the effective positioning area of ​​the cluster label estimated coordinates into a grid to obtain a plurality of grid point coordinates;

[0020] Calculating the compensation weight of each grid point based on the grid point coordinates and the label reference coordinates, and normalizing them to obtain a weight matrix;

[0021] Calculating the deviation between the cluster label estimated coordinates and the label reference coordinates, and updating the weight matrix based on the deviation to obtain a compensation matrix;

[0022] The cluster label estimated coordinates are compensated based on the compensation matrix to obtain label estimated coordinates.

[0023] Furthermore, the omnidirectional positioning system includes a dual UWB unit positioning module and a rotating platform module, wherein:

[0024] The dual UWB unit positioning module includes a left UWB detection unit, a right UWB detection unit, an IMU detection unit and a main control unit;

[0025] The rotating platform module includes a rotating platform and a servo motor;

[0026] The main control unit is connected to the rotating platform module through a motor control interface, and is used to output a control signal of the rotating platform module, thereby controlling the rotation angle of the rotating platform and the output power of the servo motor;

[0027] The main control unit is connected to the UWB detection unit through a data communication interface, and is used to control the UWB detection unit to collect the original positioning data of the tag, and receive the data collected by the UWB detection unit using the universal asynchronous receiver and transmitter protocol;

[0028] The main control unit is connected to the host computer through the data upload interface, and uses the asynchronous receiver and transmitter protocol to send all the data collected by the UWB detection unit to the host computer;

[0029] The main control unit is connected to the IMU detection unit through the IMU communication interface, and is used to control the IMU detection unit to collect the attitude angle data of the base station and receive the data collected by the IMU detection unit through the IIC protocol.

[0030] Furthermore, the step of calculating the estimated coordinates of the tag at different rotation angles based on the estimated height of the tag and the three-dimensional positioning circle coordinates of the tag specifically includes:

[0031] Selecting a UWB unit on one side, and filtering out coordinates that meet the estimated height tolerance range of the tag based on the Z-axis coordinates of the three-dimensional positioning circle of the tag to obtain conditional coordinates;

[0032] Traversing the three-dimensional positioning circle coordinates of the UWB unit tag on the other side based on the three-dimensional positioning circle coordinates of the conditional coordinates, and calculating the Euclidean distance of the positioning circle coordinates;

[0033] Determine the three-dimensional positioning circle coordinates of the corresponding UWB unit tags on both sides based on the minimum value of the Euclidean distance;

[0034] An average operation is performed on the three-dimensional positioning circle coordinates of the UWB unit tags on both sides to obtain estimated coordinates.

[0035] The second technical solution adopted by the present invention is: a single-base station three-dimensional positioning system based on rotating UWB, comprising:

[0036] Omnidirectional positioning system module, used to collect tag status information;

[0037] an estimated tag position calculation module, which calculates an estimated tag position in a navigation coordinate system based on the state information of the tag;

[0038] An estimated coordinate clustering module clusters the estimated label positions based on a sliding window method and a DBSCAN clustering algorithm to obtain clustered label estimated coordinates;

[0039] The compensation module is used to compensate the cluster label estimated coordinates to obtain label estimated coordinates.

[0040] The present invention also proposes a single-base station three-dimensional positioning device based on rotating UWB, comprising:

[0041] at least one processor;

[0042] at least one memory for storing at least one program;

[0043] When the at least one program is executed by the at least one processor, the at least one processor implements the single-base station three-dimensional positioning method based on rotating UWB as described above.

[0044] The beneficial effects of the method and system of the present invention are as follows: the present invention designs a hardware structure of an omnidirectional positioning system, which collects data and locates tags from all directions through a rotating platform to control dual UWB detection units, greatly broadens the coverage range, realizes the identification of estimated points opposite the UWB unit onboard antenna, effectively simplifies the setting process and reduces the deployment cost of the positioning system; based on the hardware design, an omnidirectional three-dimensional positioning algorithm combined with a three-dimensional circle estimation method is proposed, by arranging two UWB units on the base station and performing direction and distance measurement on the tag respectively, drawing a spatial positioning circle according to the measured angle and distance data, and integrating the height information of the tag to perform three-dimensional positioning of the tag, effectively reducing the technical difficulty and time cost of deployment; then, the intermediate estimation points in different coordinate systems are adjusted to a fixed coordinate system, and the estimated coordinates of the tag are obtained by clustering; finally, the estimated coordinates are compensated based on the compensation matrix of the sampling point and the position error vector method to obtain the estimated coordinates of the tag, thereby effectively reducing the number of base stations in a single area and providing a more accurate positioning service for indoor flight of drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a flowchart of the steps of a single-base station three-dimensional positioning method based on rotating UWB of the present invention;

[0046] Figure 2 This is a structural block diagram of a single-base station three-dimensional positioning system based on rotating UWB of the present invention;

[0047] Figure 3 This is a physical diagram of an omnidirectional positioning system of a single-base station three-dimensional positioning method based on rotating UWB of the present invention;

[0048] Figure 4This is a schematic diagram of the effective direction-finding range of a UWB detection unit in a single-base station three-dimensional positioning method based on rotating UWB according to the present invention;

[0049] Figure 5 This is a physical picture of a rotating platform of a single-base station three-dimensional positioning method based on rotating UWB in the present invention;

[0050] Figure 6 This is a hardware structure diagram of an omnidirectional positioning system of a single-base station three-dimensional positioning method based on rotating UWB in the present invention;

[0051] Figure 7 This is a hardware structure block diagram of a UWB detection unit of a single-base station three-dimensional positioning method based on rotating UWB in the present invention;

[0052] Figure 8 This is an omnidirectional positioning framework diagram of a single-base station three-dimensional positioning method based on rotating UWB in the present invention;

[0053] Figure 9 It is a schematic diagram of a circle in three-dimensional space of a single-base station three-dimensional positioning method based on rotating UWB of the present invention;

[0054] Figure 10 It is a schematic diagram of the positioning plane and positioning circle of a single base station three-dimensional positioning method based on rotating UWB of the present invention;

[0055] Figure 11 This is a schematic diagram of omnidirectional three-dimensional positioning coordinates of a single-base station three-dimensional positioning method based on rotating UWB in the present invention;

[0056] Figure 12 It is a sampling calibration point diagram of a single base station three-dimensional positioning method based on rotating UWB of the present invention;

[0057] Figure 13 This is a calibration workflow diagram of a single-base station three-dimensional positioning method based on rotating UWB in the present invention;

[0058] Figure 14 This is a positioning experiment trajectory diagram of a single-base station three-dimensional positioning method based on rotating UWB in the present invention. DETAILED DESCRIPTION

[0059] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The step numbers in the following embodiments are provided for ease of description only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted based on the understanding of those skilled in the art.

[0060] Reference Figure 1 and Figure 8The present invention provides a single-base station three-dimensional positioning method based on rotating UWB, which includes the following steps:

[0061] S1, dual UWB units based on omnidirectional positioning system collect tag status information;

[0062] Specifically, refer to Figure 3 and Figure 6 The hardware structure of the omnidirectional positioning system includes a dual UWB unit positioning module and a rotating platform module, wherein:

[0063] The dual-UWB unit positioning module includes a left-side UWB detection unit, a right-side UWB detection unit, an IMU detection unit, and a main control unit. The angle and distance data measured by a single UWB detection unit can only determine the position of the estimated point in front of the antenna, and cannot determine the estimated point on the back of the UWB detection unit's onboard antenna. Since the direction-finding data of the two UWB detection units and the tag form a certain angle, it can be determined whether the tag is on the front or back of the antenna. Therefore, the present invention uses two UWB units to perform ranging and direction measurement on the same tag.

[0064] The rotating platform module includes a rotating platform and a servo motor;

[0065] Reference Figure 4 Since the effective measurement range of the PDOA positioning method of the UWB detection unit is within the range of plus or minus 60 degrees centered on the direction of the UWB antenna, the positioning range is limited. In order to expand it into omnidirectional positioning, the present invention designs a rotating platform to drive the base station to rotate to achieve omnidirectional positioning.

[0066] Reference Figure 5 In a specific embodiment of the present invention, a servo motor is mounted on a rotating platform, enabling 360° omnidirectional detection of the UWB device. The motor consists of two parts: a stator and a rotor. The stator portion of the motor is fixed to the rotating platform, and copper pillars are used to fix the UWB main control board and its onboard measurement unit above the motor rotor. A through-hole slip ring is placed at the center of the servo motor, which transmits power and signal lines from the main control board. The slip ring structure prevents winding interference during the motor's 360° omnidirectional rotation.

[0067] The left UWB detection unit and the right UWB detection unit are used to collect the original positioning data of the tag;

[0068] The main control unit is connected to the rotating platform module via a motor control interface, and is used to output a control signal to the rotating platform module, thereby controlling the rotation angle of the rotating platform and the output power of the stepping motor;

[0069] The main control unit is connected to the UWB detection unit through a data communication interface, and is used to control the UWB detection unit to collect the original positioning data of the tag, and receive the data collected by the UWB detection unit using the universal asynchronous receiver and transmitter protocol;

[0070] The main control unit is connected to the IMU detection unit through an IMU communication interface, and is used to control the IMU detection unit to collect attitude angle data of the base station, and receive the data collected by the IMU detection unit through the IIC protocol;

[0071] The main control unit is connected to the host computer through the data upload interface. When the main control unit completes a complete UWB data and IMU data collection, it uses the asynchronous receiver and transmitter protocol to send all the data collected by the UWB detection unit to the host computer; the host computer uses the UWB data to calculate the estimated point of the current tag and perform visual display and trajectory tracking, and the IMU data is used to observe the posture and heading of the base station during operation.

[0072] The status information of the tag includes the angle of the tag, the distance of the tag, and the estimated height of the tag.

[0073] Reference Figure 7 The UWB detection unit includes an STM32 minimum system and a UWB module; in order to facilitate the observation of the tag's operating status and configuration information, the specific embodiment of the present invention adds a peripheral OLED display device and LED indicator light.

[0074] S2. Calculating an estimated tag position in a navigation coordinate system based on the tag state information;

[0075] Specifically, the left and right UWB detection units of the omnidirectional positioning system sample the angle (θ Ri ,θ Li ), distance information (d Ri , d Li ) and estimated height H ei ; Rotation angle a of the rotating platform i Obtained by the main control unit, the status information of the tag can be defined as S Ti =[θ Ri ,θ Li ,d Ri ,d Li ,H ei ,a i ] T .

[0076] S2.1. Calculating the three-dimensional positioning circle coordinates of the tag based on the angle of the tag and the distance of the tag;

[0077] Specifically, in three-dimensional space, there are inevitably Figure 9 The space circle shown has a center coordinate of C(x c ,y c ,z c ), the circle radius is r, and the circle normal vector is In the plane of the space circle, there are two perpendicular unit vectors and Vector The point of intersection with the circle is defined as point P; the vector and The angle between them is θ, θ∈[0,2π]; the vector The projection on the unit vector is expressed as follows:

[0078]

[0079] in, Represents a vector In vector projection on; Represents a vector In vector Projection on .

[0080] vector and It can be written as follows:

[0081]

[0082] Therefore, the point P(x pθ ,y pθ ,z pθ ) is expressed as follows:

[0083]

[0084] Among them, x pθ represents the x-axis coordinate of point P; y pθ represents the y-axis coordinate of point P; z pθ Represents the z-axis coordinate of point P; (x a ,y a ,z a ) represents a unit vector Coordinates of (x b ,y b ,z b ) represents a unit vector Coordinates of (x c ,y c ,z c ) represents the coordinates of the center C of the circle.

[0085] Therefore, when the base station is stationary, the system can determine the location of the tag within the effective coverage area of ​​the base station antenna, referring to Figure 10 , taking the measurement data of the right UWB detection unit as an example, the right UWB detection unit detects all possible positions P of the tag Rθ It is concentrated in the three-dimensional positioning circle of the UWB unit on the right, and its expression is as follows:

[0086]

[0087] Among them, (X Rθ ,Y Rθ ,Z Rθ ) represents the possible position P of the label Rθ Coordinates of (x R ,y R ,z R ) represents the center of the three-dimensional positioning circle A R Coordinates of d Ri Indicates the radius of the 3D positioning circle of the i-th tag.

[0088] Since the plane of the three-dimensional positioning circle of the right UWB detection unit is perpendicular to the X b O b Y b planes, so their intersection is determined by the unit vector Represents the unit vector The coordinates of the measured angle θ are based on Ri Confirm, unit vector Then with the unit vector Vertical, so the expression of the three-dimensional positioning circle unit vector of the UWB detection unit on the right is as follows:

[0089]

[0090] Combining Formula 4 and Formula 5, Formula 4 can be simplified to the following form:

[0091]

[0092] Therefore, we can get the value of θ=θ ri Get a set Similarly, taking the measurement data of the left UWB detection unit as an example, the parametric equation of the three-dimensional positioning circle of the left UWB component can be obtained as P Lθ (X Lθ ,Y Lθ ,Z Lθ ).

[0093] S2.2. Calculating estimated coordinates of the tag at different rotation angles based on the estimated height of the tag and the three-dimensional positioning circle coordinates of the tag;

[0094] Specifically, in order to minimize the number of calculation iterations, the estimated position of the left UWB unit is selected, and the coordinates that meet the estimated height tolerance range of the tag are screened based on the Z-axis coordinates of the three-dimensional positioning circle of the tag to obtain the conditional coordinates; the Z-axis coordinates of the conditional coordinates are Satisfy (H est -H mse ,H est +H mse ), where H est Indicates the estimated height of the label; H mse Represents the mean squared deviation of label heights.

[0095] Choose any coordinate P from the conditional coordinates Lθ =[X Lθ ,Y Lθ ,Z Lθ ] T , and traverse the three-dimensional positioning circle coordinates P of the UWB unit tag on the other side Rθ =[X Rθ ,Y Rθ ,Z Rθ ] T , calculate the Euclidean distance between the coordinates of two positioning circles, the expression is as follows:

[0096]

[0097] Among them, DS represents the Euclidean distance, Indicates that the UWB unit tag on the left is at an observation angle of θ l The three-dimensional positioning circle coordinates at time ; Indicates that the UWB unit tag on the right is at an observation angle of θ r The three-dimensional positioning circle coordinates at that time.

[0098] Then, during the traversal process, the minimum value of the Euclidean distance between the coordinates of the two positioning circles is continuously updated, and its expression is as follows:

[0099]

[0100] Among them, P mL and P mR Indicates the three-dimensional positioning circle coordinates of the UWB unit tags on both sides corresponding to the minimum value of the Euclidean distance; i, j represents the observation angle sequence.

[0101] Until the traversal of the positioning circle coordinates on both sides is completed, the three-dimensional positioning circle coordinates of the UWB unit tags on both sides corresponding to the minimum value of the Euclidean distance are determined.

[0102] Finally, the three-dimensional positioning circle coordinates of the UWB unit tags on both sides are averaged to obtain the estimated coordinates, which are expressed as follows:

[0103]

[0104] Among them, P b,e Represents the estimated coordinates.

[0105] S2.3. Convert the estimated coordinates of the tag at different rotation angles into the navigation coordinate system to obtain the estimated tag position.

[0106] Specifically, refer to Figure 11 , UWB base station framework E b As the rotating body rotates, the UWB base station coordinate system E b To navigation coordinate system E I The transformation matrix is ​​expressed as follows:

[0107]

[0108] Among them, α i Indicates the rotation angle of the rotating platform.

[0109] Since the stepper motor drives the rotating structure to accurately record the current angle information, the positioning system uses a fixed angle interval Rotate. The current angle of the rotating platform can be written as

[0110] Combining Formula 10 and Formula 9, we can get the estimated tag position in the navigation coordinate system, which is expressed as follows:

[0111]

[0112] Among them, P b,e-i and represents the estimated coordinates of label i; P I,e-i and (X I,e-i ,Y I,e-i ,Z I,e-i ) represents the estimated label position of label i.

[0113] S3. Clustering the estimated label positions based on a sliding window method and a DBSCAN clustering algorithm to obtain cluster label estimated coordinates;

[0114] Specifically, after obtaining the serial estimated position points of the tag at different rotation angles using the S2 step, since the effective direction detection range of the UWB unit is 120° in front and the rotation structure is at a fixed angle interval Rotation, so it can be inferred that at least the For the valid data outside the valid range, the omnidirectional positioning system of the present invention can observe significant differences in the data, so the DBSCAN clustering algorithm is used to cluster the estimated points collected under the valid angle, which can filter out any abnormal information and obtain more accurate coordinates of the final estimated points.

[0115] S3.1. Update the estimated tag position based on a sliding window method to obtain an updated estimated tag position;

[0116] Specifically, considering that the robot is in motion in actual applications, a sliding window method is used to update the estimated position P I,e-i ,After the first collection of tag data for a complete rotation cycle, the ,earliest collected data in the buffer will be eliminated, and the updated data will ,be obtained, and the updated data will be used to ,execute the positioning algorithm.

[0117] S3.2. Cluster the updated estimated label positions based on the DBSCAN clustering algorithm to obtain clustered label estimated coordinates.

[0118] S4. Compensate the cluster label estimated coordinates to obtain label estimated coordinates.

[0119] For details, please refer to the compensation process. Figure 13 , which specifically includes the following steps:

[0120] S4.1. Divide the effective positioning area of ​​the cluster label estimated coordinates into a grid to obtain a plurality of grid point coordinates;

[0121] Specifically, considering the rotation characteristics of the omnidirectional positioning system and the Z-axis data provided by the robot height, the deviation of the tag estimated coordinates is mainly observed on the x-axis and y-axis. Therefore, a compensation matrix is ​​used to adjust the data of these two axes; the estimated position is based on the predetermined square boundary sampling points, referring to Figure 12 , the sampled calibration data set is denoted as P cal {P c,e-i ,P c,r-i}, i∈(1,2,...,n), where P c,e-i (x c,e-i ,y c,e-i ,z c,e-i ) and P c,r-i (x c,r-i ,y c,r-i ,z c,r-i ) represent the estimated position and reference position of the i-th sampling point respectively. In order to calculate the compensation for the estimated position, the effective positioning area is divided into m×m grids according to the accuracy requirements, and the coordinates of several grid points are obtained.

[0122] S4.2. Calculate the compensation weight of each grid point based on the grid point coordinates and the label reference coordinates, and normalize them to obtain a weight matrix;

[0123] Specifically, the weight matrix is ​​expressed as follows:

[0124]

[0125] Among them, R ω represents the weight matrix; ω' ij represents the normalized element in row i and column j; ω ij represents the element in row i and column j; d ij Represents the distance deviation between grid point j and label reference coordinate point i; (X j ,Y j ,Z j ), j∈(1,2,...,m 2 ) represents the grid point P g,j 's coordinates.

[0126] S4.3. Calculate the deviation between the cluster label estimated coordinates and the label reference coordinates, and update the weight matrix based on the deviation to obtain a compensation matrix;

[0127] Specifically, the compensation matrix ΔP cal,j (X cal,j ,Y cal,j ) includes the supplementary amount of the x-axis and the compensation amount of the y-axis, and its expression is as follows:

[0128]

[0129] Among them, X cal,j Indicates the supplementary amount of the x-axis; Y cal,j Indicates the compensation amount of the y-axis; ω' ij represents the normalized element in row i and column j; P c,e-i (x c,e-i ,y c,e-i ,z c,e-i ) and P c,r-i (x c,r-i ,y c,r-i ,z c,r-i ) represent the estimated position and reference position of the i-th sampling point respectively; Indicates the deviation from the reference position.

[0130] S4.4. Compensate the cluster label estimated coordinates based on the compensation matrix to obtain label estimated coordinates.

[0131] Specifically, the compensation matrix is ​​stored in R comIn , the cluster label estimated coordinates are compensated to obtain the label estimated coordinates, which are expressed as follows:

[0132]

[0133] Among them, P est Indicates the estimated coordinates of the label; P I,et Represents the cluster label estimated coordinates; Indicates that it is stored in R com The coordinate compensation amount in ; represents the estimated compensation amount of label coordinate clustering; f(·) represents the label coordinate clustering compensation calculation function.

[0134] To verify the feasibility of the method of the present invention, a positioning experiment was conducted in the specific embodiment of the present invention. Three drones were equipped with positioning tags and flew along designated routes. The omnidirectional positioning system performed real-time positioning and tracking on the three drones. The results of the positioning of the three drones by the rotating UWB single base station positioning system are shown in the figure below. Figure 14 As shown in the figure, the true trajectory of the three drones is marked with lines, circles represent the uncompensated estimated points of the three drones, and asterisks represent the compensated estimated points of the three drones. The positioning data is obtained based on the rotational omnidirectional 3D positioning algorithm, and the positioning errors of the three drones are calculated as shown in Table 1.

[0135] Table 1 Positioning error data of three UAVs

[0136]

[0137] For the linear motion trajectory of UAV 1, the root mean square error after compensation is 0.15m. Compared with the root mean square error of 0.98m before compensation, the relative error is reduced by 84.6%, and the mean absolute error is reduced by 84.9%.

[0138] In the vertical climbing trajectory of UAV 2, the root mean square error after compensation is 0.14m, which is 54.8% less relative error and 53.8% less average absolute error than the root mean square error of 0.31m before compensation. In the rectangular trajectory around the base station of UAV 3, the root mean square error after compensation is 0.19m, which is 72.4% less relative error and 78.4% less average absolute error than the root mean square error of 0.69m before compensation. It can be seen that the compensation correction method in the proposed algorithm improves the accuracy of tag coordinate estimation and limits the root mean square error to an error range of 0.2m. It can be seen that the positioning system of the present invention is sufficient to meet the requirements of robot indoor positioning scenarios.

[0139] Reference Figure 2 The present invention provides a single-base station three-dimensional positioning system based on rotating UWB, comprising:

[0140] Omnidirectional positioning system module, used to collect tag status information;

[0141] an estimated tag position calculation module, which calculates an estimated tag position in a navigation coordinate system based on the state information of the tag;

[0142] An estimated coordinate clustering module clusters the estimated label positions based on a sliding window method and a DBSCAN clustering algorithm to obtain clustered label estimated coordinates;

[0143] The compensation module is used to compensate the cluster label estimated coordinates to obtain label estimated coordinates.

[0144] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0145] A single-base station three-dimensional positioning device based on rotating UWB:

[0146] at least one processor;

[0147] at least one memory for storing at least one program;

[0148] When the at least one program is executed by the at least one processor, the at least one processor implements the single-base station three-dimensional positioning method based on rotating UWB as described above.

[0149] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0150] A storage medium stores processor-executable instructions, which, when executed by the processor, are used to implement the single-base station three-dimensional positioning method based on rotating UWB as described above.

[0151] The contents of the above method embodiments are all applicable to the present storage medium embodiment. The functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0152] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A single base station three-dimensional positioning method based on rotating UWB, characterized in that: The following steps are involved: Dual UWB units based on an omnidirectional positioning system collect the status information of the tag; Calculating an estimated tag position in a navigation coordinate system based on the state information of the tag; Clustering the estimated label positions based on the sliding window method and the DBSCAN clustering algorithm to obtain cluster label estimated coordinates; The cluster label estimated coordinates are compensated to obtain label estimated coordinates.

2. According to claim 1, a single base station three-dimensional positioning method based on rotating UWB is characterized in that: The status information of the tag includes the angle of the tag, the distance of the tag and the estimated height of the tag.

3. According to claim 2, a single base station three-dimensional positioning method based on rotating UWB is characterized in that: The step of calculating the estimated tag position in the navigation coordinate system based on the state information of the tag specifically includes: Calculating the three-dimensional positioning circle coordinates of the tag based on the angle of the tag and the distance of the tag; Calculating the estimated coordinates of the tag at different rotation angles based on the estimated height of the tag and the three-dimensional positioning circle coordinates of the tag; The estimated coordinates of the tag at the different rotation angles are converted into the navigation coordinate system to obtain the estimated tag position.

4. According to claim 1, a single base station three-dimensional positioning method based on rotating UWB is characterized in that: The step of clustering the estimated label positions based on the sliding window method and the DBSCAN clustering algorithm to obtain cluster label estimated coordinates specifically includes: The estimated label position is updated based on a sliding window method to obtain an updated estimated label position; The updated estimated label positions are clustered based on the DBSCAN clustering algorithm to obtain clustered label estimated coordinates.

5. According to claim 1, a single base station three-dimensional positioning method based on rotating UWB is characterized in that: The step of compensating the cluster label estimated coordinates to obtain the label estimated coordinates specifically includes: Divide the effective positioning area of ​​the cluster label estimation coordinates into grids to obtain a plurality of grid point coordinates; Calculating the compensation weight of each grid point based on the grid point coordinates and the label reference coordinates, and normalizing them to obtain a weight matrix; Calculating the deviation between the cluster label estimation coordinates and the label reference coordinates, and updating the weight matrix based on the deviation to obtain a compensation matrix; The cluster label estimation coordinates are compensated based on the compensation matrix to obtain label estimation coordinates.

6. According to claim 1, a single base station three-dimensional positioning method based on rotating UWB is characterized in that: The omnidirectional positioning system includes a dual UWB unit positioning module and a rotating platform module, wherein: The dual UWB unit positioning module includes a left UWB detection unit, a right UWB detection unit, an IMU detection unit and a main control unit; The rotating platform module includes a rotating platform and a servo motor; The main control unit is connected to the rotating platform module via a motor control interface, and is used to output a control signal of the rotating platform module, thereby controlling the rotation angle of the rotating platform and the output power of the servo motor; The main control unit is connected to the UWB detection unit through a data communication interface, and is used to control the UWB detection unit to collect the original positioning data of the tag, and receive the data collected by the UWB detection unit using a universal asynchronous receiver-transmitter protocol; The main control unit is connected to the host computer through the data upload interface, and uses the asynchronous receiver-transmitter protocol to send all the data collected by the UWB detection unit to the host computer; The main control unit is connected to the IMU detection unit through an IMU communication interface, and is used to control the IMU detection unit to collect attitude angle data of the base station, and receive the data collected by the IMU detection unit through the IIC protocol.

7. According to claim 3, a single base station three-dimensional positioning method based on rotating UWB is characterized in that: The step of calculating the estimated coordinates of the tag at different rotation angles based on the estimated height of the tag and the three-dimensional positioning circle coordinates of the tag specifically includes: Selecting a UWB unit on one side, and filtering out coordinates that meet the estimated height tolerance range of the tag based on the Z-axis coordinates of the three-dimensional positioning circle of the tag to obtain conditional coordinates; Traversing the three-dimensional positioning circle coordinates of the UWB unit tag on the other side based on the three-dimensional positioning circle coordinates of the conditional coordinates, and calculating the Euclidean distance of the positioning circle coordinates; Determine the three-dimensional positioning circle coordinates of the corresponding UWB unit tags on both sides based on the minimum value of the Euclidean distance; An average operation is performed on the three-dimensional positioning circle coordinates of the UWB unit tags on both sides to obtain estimated coordinates.

8. A single-base station three-dimensional positioning system based on rotating UWB, characterized in that: include: Omnidirectional positioning system module, used to collect tag status information; An estimated tag position calculation module calculates an estimated tag position in a navigation coordinate system based on the state information of the tag; An estimated coordinate clustering module clusters the estimated label positions based on a sliding window method and a DBSCAN clustering algorithm to obtain cluster label estimated coordinates; The compensation module is used to compensate the cluster label estimated coordinates to obtain the label estimated coordinates.

9. A single-base station three-dimensional positioning device based on rotating UWB, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the single-base station three-dimensional positioning method based on rotating UWB as described in any one of claims 1-7.

Images