Network self-maintenance method, device and system based on UWB base station and electronic equipment

Abstract

The invention provides a network self-maintenance method, device and system based on a UWB base station, and the method comprises the steps: obtaining known data of a to-be-maintained network, the known data comprising geographic data of the to-be-maintained network and distance weighted topological graph data, the distance weighted topological graph data comprises a rough position of at least one to-be-positioned base station and accurate positions of at least two control point base stations, and the distance weighted topological graph data comprises an adjacent relation of the base stations and a distance between the adjacent base stations; and based on the known data, calculating the accurate position of the to-be-positioned base station through a network adjustment algorithm so as to complete the calibration of the base station. According to the method, manual intervention is not needed in system deployment and maintenance after deployment is completed, the automation degree and maintenance convenience of the system are improved, errors caused by manual operation are reduced, and the reliability, accuracy and real-time performance of the system are enhanced.

Description

Technical Field

[0001] The present disclosure relates to the field of UWB communication technology, and in particular to a network self-maintenance method, device, system and electronic equipment based on a UWB base station. Background Art

[0002] As a short-range wireless communication technology, UWB (Ultra-Wideband) technology has the advantages of high-precision positioning, low power consumption, anti-multipath and anti-interference. Its excellent time resolution and penetration ability can achieve centimeter-level high-precision positioning in complex environments. Therefore, UWB technology is widely used in occasions with extremely high positioning accuracy requirements, such as real-time positioning and monitoring of personnel in coal mines.

[0003] The existing UWB positioning system relies on manual on-site operations when deployed and maintained in coal mines. When the system is deployed, workers are required to conduct detailed measurements and records on site, manually update the system database, and then calibrate the entire positioning system. The entire process is cumbersome, time-consuming, and error-prone. After the UWB base station is deployed, as the mine area expands and the tunnels extend, the base station network needs to be redesigned in the new area to maintain coverage. When adding new base stations, removing old base stations, or moving base station locations, manual processing is also required to update the system configuration.

[0004] Obviously, this manual operation method that relies heavily on manual labor is inefficient, has poor real-time performance and is prone to errors. It has a great impact on the accuracy and reliability of the positioning system, and poses risks to mine management and personnel safety. Summary of the invention

[0005] The present invention provides a UWB-based network self-maintenance method, device, base station and system, which are used to solve the problem of low network maintenance efficiency of the existing UWB positioning system.

[0006] The present invention solves the above technical problems through the following aspects:

[0007] In a first aspect, the present invention provides a network self-maintenance method based on a UWB base station, comprising:

[0008] Acquire known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and a rough position of at least one base station to be located and precise positions of at least two control point base stations, wherein the distance-weighted topological map data includes adjacent relationships of each base station and distances between adjacent base stations;

[0009] Based on the known data, the precise position of the base station to be located is calculated by a network adjustment algorithm to complete the base station calibration.

[0010] In a second aspect, the present invention provides a UWB-based network self-maintenance device, comprising:

[0011] A data acquisition module, used to acquire known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and a rough position of at least one base station to be located and precise positions of at least two control point base stations, wherein the distance-weighted topological map data includes adjacent relationships of each base station and distances between adjacent base stations;

[0012] The calculation module is used to calculate the precise position of the base station to be located based on the known data through a network adjustment algorithm to complete the base station calibration.

[0013] In a third aspect, the present invention provides a UWB-based self-maintaining network system, the system comprising at least: two control point base stations, a base station to be located and a server;

[0014] The server is used to obtain known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and the rough position of the base station to be located and the precise position of the control point base station, and the distance-weighted topological map data includes the adjacent relationship of each base station and the distance between adjacent base stations; based on the known data, the precise position of the base station to be located is calculated by a network adjustment algorithm to complete the base station calibration.

[0015] In a fourth aspect, the present invention provides an electronic device for network self-maintenance of a UWB base station, the electronic device comprising one or more processors and a memory, the memory being used to store one or more computer programs, and when the one or more computer programs are executed by one or more processors, the one or more processors implement the various self-maintenance methods as described above.

[0016] The base station network with self-maintenance capability provided by the present invention automatically detects and corrects the location coordinates of the base station according to the rough data when the base station is assembled, and completes the initial configuration of the base station accordingly. The system deployment process is simplified, and the flexibility and implementation efficiency of the system are improved; after the system deployment is completed, the base station that has changed in the system can be automatically detected, and the location coordinates of the base station can be updated in real time. No manual intervention is required for maintenance during system deployment and after deployment, which improves the automation degree of the system and the simplicity of maintenance, reduces the errors caused by manual operation, and enhances the reliability, accuracy and real-time performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is an example diagram of base station deployment for the coal mine UWB positioning system;

[0019] Figure 2 A flowchart of a network self-maintenance method based on a UWB base station provided in an embodiment of the present disclosure;

[0020] Figure 3 This is a schematic diagram of base station distribution in a simple network to be maintained in an embodiment of the present disclosure;

[0021] Figure 4 A structural block diagram of a network self-maintenance device based on a UWB base station provided in an embodiment of the present disclosure;

[0022] Figure 5 A block diagram of a network self-maintenance system based on a UWB base station provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solutions in the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present disclosure. In addition, for the sake of clarity, parts that are not related to the description of the exemplary embodiments are omitted in the drawings.

[0024] In this specification, it should be understood that terms such as "including" or "having" are intended to indicate the existence of the features, numbers, steps, behaviors, components, parts or combinations thereof disclosed in the present disclosure, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts or combinations thereof exist or are added. It should also be noted that the embodiments in the present disclosure and the features in the embodiments may be combined with each other if there is no conflict.

[0025] UWB positioning technology is widely used in situations where positioning accuracy is extremely high, such as industrial automation, drone positioning, smart logistics, and real-time positioning and monitoring of personnel in high-risk working environments. Without loss of generality, this specification takes the UWB positioning system in a coal mine environment as an example to illustrate the implementation scheme of the present invention.

[0026] In the deployment and implementation of the UWB personnel positioning system in coal mines, it is necessary to maintain the base station location coordinates to ensure their accuracy and real-time performance. In traditional UWB personnel positioning systems, the calibration and maintenance of base station locations usually rely on manual measurement and input by professional technicians, including on-site measurement, recording base station locations, updating the system database after manual entry, and then calibrating the entire positioning system to ensure the stability and accuracy of the base station network. This process is not only time-consuming and labor-intensive, but also prone to human errors, resulting in inaccurate base station coordinates, which in turn affects the positioning accuracy of the entire system. In addition, when the structure of the mining area changes or the base station needs to be relocated, complex manual measurement and system calibration operations need to be performed again, increasing maintenance costs and work difficulty.

[0027] Based on this, an embodiment of the present disclosure provides a network self-maintenance solution based on a UWB base station to solve the above-mentioned problem.

[0028] First, an example of an application scenario of a UWB positioning system using the network self-maintenance method of an embodiment of the present disclosure is briefly described.

[0029] Figure 1 Schematic diagram of base station deployment of coal mine UWB positioning system.

[0030] like Figure 1 As shown in the figure, the dispatch center deploys positioning base stations on the ground and in each tunnel underground. The personnel and vehicles underground communicate with the base stations through positioning tags, so that the dispatch center can track the positions of the personnel and vehicles underground in real time. The number and location of the base stations deployed underground must ensure the coverage of various areas underground. The assembly of these base stations needs to be completed manually. In the existing technology, the calibration and maintenance of the base stations also rely on manual downhole measurement.

[0031] Figure 2 A flowchart of a network self-maintenance method based on a UWB base station provided in an embodiment of the present disclosure.

[0032] like Figure 2 As shown, the method includes operations S210 to S220, and the method is executed by the server.

[0033] S210: Acquire known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and a rough position of at least one base station to be located and precise positions of at least two control point base stations, and the distance-weighted topological map data includes adjacent relationships between base stations and distances between adjacent base stations.

[0034] The network to be maintained can be the entire positioning system network including all base stations, or it can be a network consisting of base stations in a local area, which depends on the actual environment in which the network is located. For example, in a coal mine, the positioning system network is distributed in various working faces. The tunnels in a working face extend for several kilometers. This tunnel can be used as a network to be maintained for initial calibration, such as Figure 1 Each base station in the path from base station A to base station B constitutes a network to be maintained, and the path from base station A to base station C and the path from base station A to base station D can each constitute a network to be maintained.

[0035] Geographic data is a road network map generated based on the geographic information system GIS, which can reflect the distribution of underground tunnels. Generally, the Mercator coordinates are used in the mine road network map. The location of each base station in the positioning system can be marked in the road network map, and the ground monitoring system can display the geographical image of the underground area.

[0036] The approximate position of the base station to be located has been recorded when the base station was installed, and the rough position can be marked on the road network map. The precise position of the control point base station can be obtained through manual measurement, and the number and specific location of the control point base stations are set according to the actual environment. Generally speaking, the fewer the number of control point base stations, the less workload of manual measurement, but when calculating the precise coordinates of other base stations, the more control point base stations, the more conducive to the accuracy of the calculation results. In order to reduce the number of control point base stations and ensure the accuracy of the calculation, the two base stations farthest apart in a network to be maintained can be used as control points. For example, the base stations at the two ends of a lane can be used as control points, and temporary base stations can be arranged at the intersection of lanes that cannot communicate with each other. The temporary base stations can be removed after the calibration is completed. Figure 1 In the example, base stations A~D are control point base stations located at both ends of each lane, and the other base stations are base stations to be positioned, located in the middle of the lane.

[0037] During the deployment of base station equipment, a base station topology map can be generated, which reflects the adjacent relationship between each base station. After the base station enters the network, the base station performs inter-base station ranging to obtain the distance between adjacent base stations, thereby forming a distance-weighted topology map based on the base station topology. During base station ranging, each base station sends a broadcast signal with a base station ID in turn, which is received and identified by the surrounding base stations. Then each base station follows the frame structure configured by the system. During the ranging period, the base station initiates two-way positioning with its adjacent base stations to complete the ranging between base stations. Base station ranging can be performed spontaneously by the base station after entering the network, or it can be triggered by the server issuing a command to trigger the base station to execute during the initial calibration.

[0038] S220: Based on the known data, the precise position of the base station to be located is calculated by a network adjustment algorithm to complete the base station calibration.

[0039] Network adjustment algorithm is an advanced adjustment method used in traditional engineering surveying. It is mainly used to process complex network data composed of multiple observation points and observation lines. It aims to improve the accuracy and consistency of the entire network by optimizing calculations. In the network adjustment algorithm, it is necessary to clarify the control points in the network, that is, the known coordinate points, and then select the appropriate mathematical model according to the network type and observation content. For the plane control network, a two-dimensional or three-dimensional coordinate system is usually used. The algorithm is based on the least squares principle to establish a set of error equations. The purpose is to find a set of optimal solutions so that the sum of squares of the residuals between the observed values ​​and the theoretical values ​​is minimized. This process can be understood as "optimizing" the original data. In the embodiment of the present disclosure, a constrained network adjustment algorithm is used, and the algorithm process is the process of optimizing the rough position of the base station to be positioned.

[0040] The calculation process is explained below using four base stations as an example.

[0041] Figure 3 The figure shows the base station distribution diagram of a network to be maintained.

[0042] like Figure 3 As shown, there are four base stations, of which base station 1 and base station 4 are control point base stations with known coordinates, and base station 2 and base station 3 are base stations to be located with only rough coordinates. The path curve connecting the four base stations is used as the parameter curve used in the adjustment calculation, and the curve is known:

[0043] , where t represents the parameter.

[0044] The coordinates of base station 1 and base station 4 are known , and , ; Set the coordinates of base station 2 and base station 3 after adjustment , and , , we can get the distance from base station 2 to base station 1 , the distance from base station 3 to base station 2 And the distance from base station 4 to base station 3 They are:

[0045]

[0046] The measured distances obtained by ranging between base stations are .

[0047] The error between the two distances is calculated as:

[0048]

[0049] The error function is obtained as:

[0050]

[0051] The least squares method is used to adjust the values ​​of the parameters t2 of base station 2 and t3 of base station 3 so that the error function E is minimized and the coordinates after adjustment are obtained. , and , .

[0052] When there are more base stations to be located in the network to be maintained, the calculation process is similar. The error in the calculation process can be evenly distributed to each point using the adjustment algorithm to avoid the accumulation of errors to individual base stations, which will lead to excessive deviations in the results of the base stations. Using the coordinates of a small number of known base stations to calculate the coordinates of a large number of base stations to be located reduces the workload of manual measurement and debugging, which is of great significance in an environment where manual operations are difficult, such as underground coal mines.

[0053] Furthermore, considering the vertical and horizontal extension of underground tunnels in coal mines, many base stations will be set up at the turns of the tunnels. In order to accurately determine the direction of the wireless signal of the base station here, and thus determine the direction of the parameter curve during the adjustment calculation, before calculating the precise position of the base station to be located, it also includes: obtaining the tunnel angle at the location of the base station to be located; determining the parameter curve used in the network adjustment algorithm based on the tunnel angle and geographic data, so that the base station to be located and the control point base station are both points on the parameter curve. The tunnel angle is detected by the photoelectric sensor set at the location of the base station to be located, and reported by the base station to be located. When the base station is assembled, the base station center is hard-connected to the antenna to maintain a fixed distance of 2m. The photoelectric sensor automatically identifies the 180-degree angle and 90-degree angle of the tunnel, and the identified angle is reported to the server by the base station.

[0054] After the precise coordinates of the base station to be located are determined, all base stations in the network to be maintained have precise coordinates, thus completing the base station calibration work, and then the original base station location information needs to be updated. On this basis, the communication parameters of the corresponding base station can also be configured according to the precise location of each base station in the network to be maintained. The communication parameters include the setting of transmission power and coverage range. Appropriate communication parameters can ensure the corresponding coverage range and reduce interference to adjacent base stations.

[0055] After the base station calibration is completed by the above method, the method provided by the present disclosure will also automatically detect and correct the changes in the network. Network changes mainly include changes in the location of base stations and the addition of new base stations. In coal mines, as the excavation work progresses, the base stations in the original working area may need to be moved to the new working area, thereby changing the location of the original base station, or adding base stations in the new working area. For these two common situations, the method of the embodiment of the present disclosure also includes the following operations.

[0056] In the case of detecting that the position of the first base station in the network to be maintained has changed, the first base station is triggered to measure the distance with the adjacent base station to obtain the distance measurement result of the first base station; based on the network adjustment algorithm, the precise position of the first base station is calculated using the distance measurement result of the first base station and the precise position of the calibrated adjacent base station, and the distance weighted topological map data is updated. Among them, the change in the position of the first base station can be detected by the following steps: detecting the first base station that has been restarted according to the power-on time of the base station; receiving the adjacent base station ID reported by the first base station; if the adjacent base station ID and the adjacent relationship between the first base station and each base station in the original record are different, it is determined that the position of the first base station has changed. When the position of the base station changes, it is only necessary to re-measure the distance between the base stations that have changed, re-calculate the network adjustment, and then update the corresponding data record. The base station transmits a broadcast signal regularly or under instruction triggering, which carries its own base station ID. The first base station can identify the adjacent base station ID by receiving the broadcast signal of the adjacent base station.

[0057] When a new second base station is detected in the network to be maintained, the second base station is triggered to measure the distance between the adjacent base stations, the position of the second base station is calculated through the network adjustment algorithm, and the distance weighted topology map data is updated. For a new base station, the base station distance measurement can be triggered after the base station ID is automatically identified, and the position of the new base station is calculated using the positions of the surrounding calibrated adjacent base stations.

[0058] According to the method of the above embodiment, the base station can autonomously adjust the communication parameters and location coordinates with surrounding base stations during installation. The adaptive algorithm built into the base station can automatically perform position self-calibration and communication parameter configuration during installation, significantly reducing the on-site operation and debugging time of professional technicians. At the same time, this adaptive capability also improves the installation flexibility of the system and can better adapt to the complex terrain and dynamic changes of the coal mine environment.

[0059] Correspondingly, the present disclosure also provides an embodiment of a network self-maintenance device 400 based on a UWB base station.

[0060] Figure 4 A structural block diagram of a network self-maintenance device based on a UWB base station provided in an embodiment of the present disclosure.

[0061] like Figure 4 As shown, the device 400 includes a data acquisition module 410 and a calculation module 420. The device 400 can be implemented by software, hardware, or a combination of software and hardware. The device 400 can execute various network self-maintenance methods.

[0062] The data acquisition module 410 is used to acquire known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and the rough position of at least one base station to be located and the precise position of at least two control point base stations, and the distance-weighted topological map data includes the adjacent relationship of each base station and the distance between adjacent base stations.

[0063] The calculation module 420 is used to calculate the precise position of the base station to be located by a network adjustment algorithm based on known data to complete the base station calibration.

[0064] The data acquisition module 410 is also used to acquire data such as the lane angle and the power-on time, and the calculation module 420 is also used to determine whether a base station change occurs based on the detection data.

[0065] On this basis, the present disclosure also provides an embodiment of a network self-maintenance system based on a UWB base station.

[0066] Figure 5 A block diagram of a network self-maintenance system based on a UWB base station provided in an embodiment of the present disclosure.

[0067] like Figure 5 As shown, the system includes at least two control point base stations 510 , a base station to be located 520 and a server 530 .

[0068] The server 530 is used to obtain known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and a rough position of the base station 520 to be located and a precise position of the control point base station 510, wherein the distance-weighted topological map data includes the neighboring relationship of each base station and the distance between adjacent base stations; based on the known data, the precise position of the base station 520 to be located is calculated by a network adjustment algorithm to complete the base station calibration.

[0069] The present disclosure also provides an electronic device for network self-maintenance of a UWB base station, the electronic device comprising one or more processors and a memory, the memory being used to store one or more computer programs, and when the one or more computer programs are executed by one or more processors, the one or more processors implement the various methods described above.

[0070] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0071] Each embodiment in the present disclosure is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, system, and electronic device, since they are basically similar to the embodiments of the method, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0072] The above description is only an embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various changes and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of the claims of the present disclosure.

Claims

1. A network self-maintenance method based on UWB base station, characterized in that: include: Acquire known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and a rough position of at least one base station to be located and precise positions of at least two control point base stations, wherein the distance-weighted topological map data includes adjacent relationships of each base station and distances between adjacent base stations; Based on the known data, the precise position of the base station to be located is calculated by a network adjustment algorithm to complete the base station calibration.

2. The method according to claim 1, characterized in that Before calculating the precise position of the base station to be located, the method further comprises: Obtaining the lane angle at the location of the base station to be located; A parameter curve used in a network adjustment algorithm is determined according to the lane angle and the geographic data, so that the base station to be located and the control point base station are both points on the parameter curve.

3. The method according to claim 2, characterized in that The lane angle is detected by a photoelectric sensor arranged at the location of the base station to be located, and reported by the base station to be located.

4. The method according to claim 1, characterized in that After completing the base station calibration, the method further includes: When detecting that a position change occurs to a first base station in the network to be maintained, triggering the first base station to perform ranging with an adjacent base station to obtain a ranging result of the first base station; Based on a network adjustment algorithm, the precise position of the first base station is calculated using the distance measurement result of the first base station and the precise positions of the calibrated adjacent base stations, and the distance-weighted topological map data is updated.

5. The method according to claim 4, characterized in that The detecting that the location of the first base station has changed includes: Detecting the first base station that is restarted according to the power-on time of the base station; Receiving the neighboring base station ID reported by the first base station; If the neighboring base station ID is different from the originally recorded neighboring relationship between the first base station and each base station, it is determined that the position of the first base station is changed.

6. The method according to claim 5, characterized in that The neighboring base station ID is obtained by the first base station receiving a broadcast signal of a neighboring base station and identifying the neighboring base station.

7. The method according to claim 1, characterized in that After completing the base station calibration, the method further includes: According to the precise location of each base station in the network to be maintained, the communication parameters of the corresponding base station are configured.

8. A UWB-based network self-maintenance device, characterized in that: include: A data acquisition module, used to acquire known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and a rough position of at least one base station to be located and precise positions of at least two control point base stations, wherein the distance-weighted topological map data includes adjacent relationships of each base station and distances between adjacent base stations; The calculation module is used to calculate the precise position of the base station to be located based on the known data through a network adjustment algorithm to complete the base station calibration.

9. A UWB-based self-maintaining network system, characterized in that: The system comprises at least: Two control point base stations, one base station to be located and a server; The server is used to obtain known data of the network to be maintained, wherein the known data includes geographic data of the network to be maintained, distance-weighted topological map data, and the rough position of the base station to be located and the precise position of the control point base station, and the distance-weighted topological map data includes the adjacent relationship of each base station and the distance between adjacent base stations; based on the known data, the precise position of the base station to be located is calculated by a network adjustment algorithm to complete the base station calibration.

10. An electronic device for network self-maintenance of a UWB base station, the electronic device comprising one or more processors and a memory, the memory being used to store one or more computer programs, and when the one or more computer programs are executed by one or more of the processors, the one or more processors implement the method as described in any one of claims 1-7.

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