Network Self-Maintenance Method, Device, System, and Electronic Device Based on UWB Base Station

Abstract

The present invention provides a network self-maintenance method, device and system based on a UWB base station. The method includes: obtaining known data of the network to be maintained, where the known data includes geographical data of the network to be maintained, distance-weighted topology map data, as well as the rough positions of at least one base station to be located and the accurate positions of at least two control point base stations, and the distance-weighted topology map data includes the adjacent relationships between base stations and the distances between adjacent base stations; based on the known data, calculating the accurate positions of the base stations to be located through a network adjustment algorithm to complete base station calibration. The method of the present invention requires no manual intervention during system deployment and maintenance after deployment, improves the automation degree of the system and the simplicity of maintenance, reduces the errors caused by human operations, and enhances the reliability, accuracy and real-time performance of the system.

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 device based on a UWB base station. Background Art

[0002] As a short-range wireless communication technology, UWB (Ultra-Wideband) technology has advantages such as 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 requirements for positioning accuracy, such as real-time positioning and monitoring of personnel in coal mine environments.

[0003] When deploying and maintaining an existing UWB positioning system in a coal mine, it relies on manual on-site operations. During system deployment, it is necessary for staff 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 stations are deployed, with the changes in the expansion of the mining area and the extension of the roadway, it is necessary to redesign the base station network in the new area to maintain coverage, and manual processing is also required to update the system configuration when adding new base stations, removing old base stations, or moving the positions of base stations.

[0004] Obviously, this heavily manual operation method is inefficient, has poor real-time performance, and is error-prone, which has a great impact on the accuracy and reliability of the positioning system and poses risks to mining area management and personnel safety. Summary of the Invention

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

[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, including:

[0008] Obtaining known data of the network to be maintained, where the known data includes geographical data of the network to be maintained, distance-weighted topology graph data, and the rough positions of at least one base station to be located and the accurate positions of at least two control point base stations, and the distance-weighted topology graph data includes the adjacent relationships between base stations and the distances between adjacent base stations;

[0009] Based on the known data, calculating the accurate positions of the base stations to be located through a network adjustment algorithm to complete base station calibration.

[0010] Second aspect, the present invention provides a network self-maintenance device based on UWB, including:

[0011] A data acquisition module, configured to acquire known data of the network to be maintained, where the known data includes geographical data of the network to be maintained, distance-weighted topology map data, and the rough positions of at least one base station to be located and the accurate positions of at least two control point base stations. The distance-weighted topology map data includes the adjacent relationships between base stations and the distances between adjacent base stations;

[0012] A calculation module, configured to calculate the accurate position of the base station to be located based on the known data through a network adjustment algorithm to complete base station calibration.

[0013] Third aspect, the present invention provides a self-maintenance network system based on UWB. The system at least includes: two control point base stations, one base station to be located, and a server;

[0014] The server is configured to acquire known data of the network to be maintained, where the known data includes geographical data of the network to be maintained, distance-weighted topology map data, and the rough position of the base station to be located and the accurate positions of the control point base stations. The distance-weighted topology map data includes the adjacent relationships between base stations and the distances between adjacent base stations; calculate the accurate position of the base station to be located based on the known data through a network adjustment algorithm to complete base station calibration.

[0015] Fourth aspect, the present invention provides an electronic device for network self-maintenance of a UWB base station. The electronic device includes one or more processors and a memory. The memory is configured to store one or more computer programs. When the one or more computer programs are executed by the 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 ability provided by the present invention automatically detects and corrects the position coordinates of the base station according to the approximate data during base station assembly, and thus completes the initial configuration of the base station. It simplifies the system deployment process, improves the flexibility and implementation efficiency of the system; after the system deployment is completed, it can automatically detect the base stations that have changed in the system and update the position coordinates of the base stations in real time. No manual intervention is required during system deployment and maintenance after deployment, which improves the automation level and maintenance simplicity of the system, reduces the errors caused by human operations, and enhances the reliability, accuracy, and real-time performance of the system. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments recorded in the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

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

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

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

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

[0022] Figure 5 It is a block diagram of the network self-maintenance system based on the UWB base station provided by the embodiment of the present disclosure. Detailed implementation manners

[0023] In order to enable those skilled in the art to better understand the technical solutions in the present disclosure, the following will clearly and completely describe the technical solutions of the present disclosure in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure. In addition, for clarity, parts irrelevant 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, actions, components, parts, or combinations thereof disclosed in the present disclosure, and do not intend to exclude the possibility of the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Additionally, it should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

[0025] UWB positioning technology is widely used in occasions with extremely high positioning accuracy requirements, such as industrial automation, UAV positioning, intelligent 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 the coal mine environment as an example to illustrate the implementation scheme of the present invention.

[0026] In the deployment and implementation of the coal mine UWB personnel positioning system, it is necessary to maintain the position coordinates of the base stations to ensure their accuracy and real-time performance. In the traditional UWB personnel positioning system, the calibration and maintenance of the base station positions usually rely on professional technicians to manually measure and input, including on-site measurement, recording the base station positions, manually entering and then updating the system database, 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 laborious, but also prone to introducing human errors, resulting in inaccurate base station coordinates, and further affecting the positioning accuracy of the entire system. In addition, when the mine structure changes or the base stations need to be relocated, complex manual measurements and system calibration operations need to be carried out again, increasing the maintenance cost and work difficulty.

[0027] Based on this, the embodiments of the present disclosure provide a network self-maintenance solution based on UWB base stations to solve the above problems.

[0028] First, an example of an application scenario of the UWB positioning system applying the network self-maintenance method of the embodiments of the present disclosure will be briefly described.

[0029] Figure 1 It is a schematic diagram of the base station deployment for the coal mine UWB positioning system.

[0030] As Figure 1 shown, the dispatching center is on the ground, and positioning base stations are deployed in each roadway underground. Underground personnel and vehicles communicate with the base stations through positioning tags, so that the dispatching center can track the positions of underground personnel and vehicles in real time. The number and positions of the base stations deployed underground should ensure coverage of each area underground. The assembly of these base stations needs to be completed manually. In the prior art, the work of calibrating and maintaining the base stations also relies on manual measurement underground.

[0031] Figure 2 It is a flowchart of the network self-maintenance method based on UWB base stations provided by the embodiments of the present disclosure.

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

[0033] S210: Obtain the known data of the network to be maintained. The known data includes the geographical data of the network to be maintained, the distance-weighted topology map data, and the rough positions of at least one base station to be located and the accurate positions of at least two control point base stations. The distance-weighted topology map data includes the adjacent relationships between the base stations and the distances between adjacent base stations.

[0034] The network to be maintained can be the network of the entire positioning system that includes all base stations, or it can be a network composed of base stations within a local area, which is specifically related to the actual environment where the network is located. For example, in a coal mine underground, the network of the positioning system is distributed in each working face. The roadway in a working face extends for several kilometers, and this roadway can be used as a network to be maintained for initial calibration. For example, Figure 1 each base station in the path from base station A to base station B in Figure 1 forms a network to be maintained, and the paths from base station A to base station C and from base station A to base station D can each form a network to be maintained.

[0035] The geographical data is a road network map generated based on the Geographic Information System (GIS), which can reflect the distribution of underground roadways. Generally, Mercator coordinates are used in the mine road network map. The positions of each base station in the positioning system can be marked on the road network map, and the ground monitoring system can display the geographical images of the underground area.

[0036] The approximate position of the base station to be located has been recorded during the installation of the base station, 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 positions 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 the workload of manual measurement. However, when calculating the precise coordinates of other base stations, the more the number of control point base stations, the more beneficial it is to the accuracy of the calculation result. To reduce the number of control point base stations and ensure the calculation accuracy, the two base stations that are 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 roadway can be used as control points, and temporary base stations are arranged at the intersections of roadways that cannot communicate with each other. After calibration, the temporary base stations can be removed. In Figure 1 the example of , base stations A - D are all control point base stations, located at both ends of each roadway, and other base stations are base stations to be located, located in the middle of the roadway.

[0037] During the deployment of base station equipment, a base station topology map can be generated, which reflects the adjacent relationship between base stations. After the base stations are connected to the network, the base stations perform ranging between adjacent base stations to obtain the distances between adjacent base stations, thereby forming a distance - weighted topology map based on the base station topology. When performing base station ranging, each base station sequentially sends a broadcast signal with the base station ID, which is received and recognized by the surrounding base stations. Then, each base station complies with 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. The base station ranging can be spontaneously executed by the base station after it is connected to the network, or it can be triggered by the server issuing an instruction during the initial calibration.

[0038] S220: Based on the known data, calculate the precise position of the base station to be located through the 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, aiming to improve the accuracy and consistency of the entire network through optimization 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 an appropriate mathematical model according to the network type and observation content. For plane control networks, a two-dimensional or three-dimensional coordinate system is usually adopted. The algorithm is based on the least squares principle to establish an error equation system. The purpose is to find a set of optimal solutions to minimize the sum of the squares of the residuals between the observed values and the theoretical values. This process can be understood as "optimizing" the original data. In the embodiments of the present disclosure, a constrained network adjustment algorithm is adopted, and the algorithm process is the process of optimizing the rough position of the base station to be located.

[0040] The following takes four base stations as an example to illustrate the calculation process.

[0041] Figure 3 It shows a distribution diagram of the base stations of the network to be maintained.

[0042] As Figure 3 shown, there are four base stations, where 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 for the adjustment calculation, and this curve is known:

[0043] , where t represents the parameter.

[0044] The coordinates of base station 1 and base station 4 are known , and , ; Let the coordinates of base station 2 and base station 3 after adjustment be , and , , then 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 are respectively:

[0045]

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

[0047] Calculate the errors of the two distances as:

[0048]

[0049] The error function obtained is:

[0050]

[0051] The least squares method is used to adjust the values of the parameter t2 of base station 2 and the parameter t3 of base station 3 to minimize the error function E, and the adjusted coordinates 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 adjustment algorithm can evenly distribute the errors in the calculation process to each point, avoiding the accumulation of errors at individual base stations, which may lead to excessive deviation of the results of that base station. Calculating the coordinates of a large number of base stations to be located using the coordinates of a small number of known base stations reduces the workload of manual measurement and debugging, which is of great significance in an environment with difficult manual operation such as underground coal mines.

[0053] Furthermore, considering the vertical and horizontal extension of the underground coal mine roadways, many base stations will be set at the turning points of the roadways. In order to accurately determine the direction of the radio signals of the base stations at these locations, and thus determine the trend of the parameter curve during the adjustment calculation, before calculating the accurate position of the base stations to be located, it also includes: obtaining the roadway angle at the location of the base stations to be located; determining the parameter curve used in the network adjustment algorithm according to the roadway angle and geographical data, so that both the base stations to be located and the control point base stations are points on the parameter curve. The roadway angle is detected by an optoelectronic sensor set at the location of the base stations to be located and reported by the base stations to be located. During the assembly of the base stations, a hard connection is used to maintain a fixed distance of 2 m from the base station center to the antenna. The optoelectronic sensor automatically identifies the 180-degree angle and 90-degree angle of the roadway, and the identified angles are reported by the base station to the server.

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

[0055] After completing the base station calibration through the above method, the method provided by the present disclosure will also automatically detect and correct the changes in the network. The network changes mainly include base station location changes and the addition of new base stations. In underground coal mines, as the excavation work progresses, the base stations in the original working area may need to be moved to a new working area, resulting in changes in the original base station locations, or new base stations may be added in the new working area. For these two common situations, the method of the embodiments 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 configured to acquire the known data of the network to be maintained. The known data includes the geographical data of the network to be maintained, the distance-weighted topology map data, as well as the rough positions of at least one base station to be located and the accurate positions of at least two control point base stations. The distance-weighted topology map data includes the adjacent relationships between the base stations and the distances between the adjacent base stations.

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

[0064] The data acquisition module 410 is further configured to acquire data such as roadway angles and startup times. The calculation module 420 is further configured to determine whether a base station change has occurred according to the detection data.

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

[0066] Figure 5 It is a block diagram of the network self-maintenance system based on UWB base stations provided by the embodiments of the present disclosure.

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

[0068] The server 530 is configured to acquire the known data of the network to be maintained. The known data includes the geographical data of the network to be maintained, the distance-weighted topology map data, as well as the rough position of the base station to be located 520 and the accurate positions of the control point base stations 510. The distance-weighted topology map data includes the adjacent relationships between the base stations and the distances between the adjacent base stations; based on the known data, calculate the accurate position of the base station to be located 520 through a network adjustment algorithm to complete the base station calibration.

[0069] The present disclosure also provides an electronic device for network self-maintenance of UWB base stations. The electronic device includes one or more processors and a memory. The memory is used to store one or more computer programs. When the one or more computer programs are executed by the one or more processors, the one or more processors are caused to implement the various methods as 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 recited in the claims may be performed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0071] The various embodiments in the present disclosure are described in a progressive manner. For the same or similar parts among the various embodiments, reference can be made to each other, and the key points of each embodiment are the differences from other embodiments. In particular, for the embodiments of the apparatus, 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 refer to the description of the method embodiments.

[0072] The above is only for the embodiments of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, various modifications and changes can be made to the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included within 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; After the base station calibration is completed, the first base station that is restarted is detected according to the power-on time of the base station; the neighboring base station ID reported by the first base station is received; if the neighboring base station ID and the neighboring 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 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.

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: 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.

5. 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.

6. A network self-maintenance device based on a UWB base station, 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; A calculation module, used to calculate the precise position of the base station to be located by a network adjustment algorithm based on the known data to complete the base station calibration; The update module detects the first base station that is restarted according to the power-on time of the base station after completing the base station calibration; receives the neighboring base station ID reported by the first base station; if the neighboring base station ID is different from the neighboring relationship between the first base station and each base station in the original record, determines that the position of the first base station has changed; 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.

7. A network self-maintenance system based on UWB base station, 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, the known data including 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, the distance-weighted topological map data including 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 to be located is calculated by a network adjustment algorithm to complete the base station calibration; after the base station calibration is completed, the first base station that is restarted is detected according to the power-on time of the base station; the adjacent base station ID reported by the first base station is received; if the adjacent base station ID is different from the adjacent relationship between the first base station and each base station in the original record, it is determined that the position of the first base station has changed; when it is detected 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 first base station ranging result; based on the network adjustment algorithm, the precise position of the first base station is calculated using the ranging 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.

8. 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 1-5.

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