Method for automatically acquiring position coordinates based on positioning base station

Abstract

The invention relates to a method for automatically acquiring position coordinates based on a positioning base station. A preset number of UWB wireless positioning base stations are arranged in a preset indoor positioning area; adopting a preset laser radar scanning imaging device to scan the deployment area of the UWB wireless positioning base station to obtain point cloud data; fusing the point cloud data by using a preset three-dimensional model to generate a three-dimensional point cloud model; plotting the UWB wireless positioning base station identified based on the characteristics of the reflective stickers adhered to the surface of the UWB wireless positioning base station by using the three-dimensional point cloud model to obtain a base station coordinate; and pushing the base station coordinates to a preset positioning engine to realize an automatic acquisition result of the wireless positioning base station coordinates. According to the invention, the coordinate value of the wireless positioning base station can be conveniently, rapidly and accurately obtained; a traditional two-dimensional plane display mode is changed, a three-dimensional model map is visually adopted, and personnel can conveniently observe a target area and make judgment.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic coordinate acquisition of wireless positioning base stations, and in particular to a method for automatically acquiring position coordinates of positioning base stations. Background Art

[0002] With the advent of the digital and intelligent era, the demand for high-precision positioning technology has increased dramatically across various industries, especially in aviation, transportation, logistics, smart cities, and autonomous driving. High-precision positioning technology has become an indispensable key technology. Currently, high-precision positioning technologies include Bluetooth Low Energy (BLE), Wi-Fi, radio frequency identification (RFID), and ultra-wideband (UWB). Among them, ultra-wideband (UWB) wireless positioning technology has become a hot topic and trend in future wireless positioning technology due to its low power consumption, excellent multipath resistance, high security, low system complexity, and especially its ability to provide very high positioning accuracy. Ultra-wideband (UWB) wireless positioning technology requires precise location coordinates based on positioning base stations. The current common method of obtaining location coordinates is manual measurement, which is inefficient and inaccurate. The obtained coordinates are relative coordinates, and the need for coordinate conversion is not conducive to the subsequent data fusion between systems.

[0003] These shortcomings not only restrict the widespread application of UWB positioning systems but also become a core bottleneck for real-time location data-driven services in intelligent scenarios, such as dynamic route planning and disaster emergency dispatch. Therefore, an automated, high-precision, and 3D-compatible method for acquiring base station coordinates is urgently needed to break through the shackles of existing technologies and unleash the full-scenario application potential of UWB positioning technology. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method for automatically acquiring the position coordinates of a positioning base station, so as to solve the problems existing in the prior art such as low efficiency and poor accuracy of manual measurement, inconvenient coordinate conversion, non-intuitive two-dimensional display, and cumbersome operation.

[0005] According to a first aspect of an embodiment of the present invention, a method for automatically acquiring position coordinates of a positioning base station is provided, wherein the method includes:

[0006] A preset number of UWB wireless positioning base stations are deployed in a preset indoor positioning area; wherein the surface of the UWB wireless positioning base stations is adhered with reflective stickers;

[0007] Scanning the UWB wireless positioning base station deployment area using a preset laser radar scanning imaging device to obtain point cloud data;

[0008] fusing the point cloud data using a preset three-dimensional model to generate a three-dimensional point cloud model;

[0009] Using the three-dimensional point cloud model, plotting the UWB wireless positioning base station identified based on the features of the reflective sticker attached to the surface of the UWB wireless positioning base station to obtain the base station coordinates;

[0010] The base station coordinates are pushed to a preset positioning engine to achieve automatic acquisition of wireless positioning base station coordinates.

[0011] Furthermore, the preset laser radar scanning imaging device includes:

[0012] Handheld laser radar scanning imaging device or backpack laser radar scanning imaging device.

[0013] Furthermore, the UWB wireless positioning base station is installed in a pasting deployment manner and has a built-in rechargeable battery.

[0014] Furthermore, it also includes:

[0015] When plotting the base station coordinates, a preset high-precision coordinate plotting algorithm is used to ensure that the error of the plotted coordinates is within a preset range.

[0016] Furthermore, the three-dimensional point cloud model has a data preprocessing function, which performs denoising and filtering on the scanned point cloud data.

[0017] Furthermore, the method further includes: using the three-dimensional point cloud model to plot the UWB wireless positioning base station identified based on the features of the reflective sticker attached to the surface of the UWB wireless positioning base station, and obtaining the base station coordinates before pushing the base station coordinates to the preset positioning engine, further comprising:

[0018] The coordinate data is encrypted to ensure the security of data transmission.

[0019] Furthermore, it also includes:

[0020] The positioning engine can verify the received base station coordinates in real time and issue an alarm if the coordinate data is abnormal.

[0021] Furthermore, it also includes:

[0022] When scanning the base station deployment area, a multi-view scanning method is used to obtain more comprehensive point cloud data.

[0023] Furthermore, the reflective sticker of the UWB wireless positioning base station has a specific shape and color to enhance recognition in the three-dimensional point cloud model.

[0024] Furthermore, it also includes:

[0025] After the positioning engine is loaded with the three-dimensional point cloud model, the position display of the positioning target in the three-dimensional point cloud model is updated in real time according to the movement of the positioning target.

[0026] The technical solutions provided by the embodiments of the present invention may have the following beneficial effects:

[0027] This invention effectively solves the shortcomings of traditional manual measurement methods in terms of efficiency, accuracy, and visualization through automated coordinate acquisition and 3D model fusion technology. The specific advantages are as follows:

[0028] 1. Improved efficiency and accuracy of coordinate acquisition

[0029] Utilizing handheld / backpack LiDAR scanning devices and reflective tape feature recognition technology, we replace manual point-by-point measurement and streamline the base station coordinate acquisition process from the complex steps of "manual calibration → data conversion → manual entry" to a fully automated process of "scanning and modeling → automatic recognition → coordinate push." ​​Field measurements have shown that coordinate acquisition time is significantly reduced compared to traditional methods, while avoiding errors caused by manual operation. High-precision coordinates are directly output in a global absolute coordinate system, significantly improving the efficiency of the positioning system's initial calibration and the reliability of the benchmark data.

[0030] 2. Enhanced 3D spatial visualization and business compatibility

[0031] Abandoning the flat display mode that relies on 2D CAD drawings, the 3D point cloud model intuitively presents the three-dimensional structure of the positioning area, supporting flexible adaptation of one-dimensional, two-dimensional, and three-dimensional positioning scenarios. The generated 3D model seamlessly integrates directly with the positioning engine, enabling real-time dynamic display of the positioning target in three-dimensional space, meeting the needs of spatial observation and business decision-making in complex indoor environments. Compared to traditional 2D displays, the 3D model provides richer spatial semantic information, providing more accurate spatial data support for higher-level applications such as regional management and route planning.

[0032] 3. Rapid system deployment and data fusion capability optimization

[0033] The UWB base station utilizes a sticky deployment and rechargeable design, combined with the mobile scanning capabilities of LiDAR. This allows the positioning system to complete the entire process, from hardware deployment to coordinate calibration, in a short period of time, significantly improving the rapid response capabilities of emergency scenarios and temporary work areas. Furthermore, automatically acquired absolute coordinates eliminate the need for coordinate system conversion and can be seamlessly integrated with third-party spatial data such as GIS maps and BIM models, eliminating the error accumulation caused by traditional relative coordinate conversion. This provides a standardized location benchmark for multi-system data interaction and cross-domain applications such as smart cities and autonomous driving.

[0034] 4. Reduced operational complexity and manual reliance

[0035] Traditional methods require professionals to operate tools like total stations and CAD drawings, and rely on manual annotation and data verification. This new method, through equipment automation and software intelligence, lowers the operational threshold to the level of ordinary technicians, reducing reliance on specialized surveying equipment and personnel experience. The scanning, modeling, and coordinate recognition processes require no human intervention, significantly reducing the risk of human error and improving the consistency and stability of system deployment. This approach is particularly suitable for large-scale, frequently adjusted positioning scenarios (such as exhibitions and dynamic warehouse partitioning).

[0036] In summary, the present invention achieves full-link optimization of the positioning system of "efficient deployment-precise calibration-stereoscopic display-open compatibility" through technological innovation, providing key support for the large-scale application of high-precision positioning technologies such as UWB in smart scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0038] Figure 1 This is a flow chart of a method for automatically acquiring position coordinates of a positioning base station according to an exemplary embodiment;

[0039] Figure 2 The figure is a schematic diagram of the appearance of a UWB wireless positioning base station according to an exemplary embodiment. DETAILED DESCRIPTION

[0040] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0041] Example 1

[0042] See also Figure 1 , Figure 1 The present invention is a flow chart of a method for automatically acquiring position coordinates of a positioning base station according to an exemplary embodiment, the method comprising:

[0043] S1. A preset number of UWB wireless positioning base stations are deployed in a preset indoor positioning area; wherein the surface of the UWB wireless positioning base station is sticky with reflective stickers;

[0044] S2 uses a preset laser radar scanning imaging device to scan the UWB wireless positioning base station deployment area to obtain point cloud data;

[0045] S3. Using a preset three-dimensional model to fuse the point cloud data to generate a three-dimensional point cloud model;

[0046] S4. Using the three-dimensional point cloud model, plotting the UWB wireless positioning base station based on the characteristics of the reflective stickers attached to the surface of the UWB wireless positioning base station to identify the base station coordinates;

[0047] S5. Push the base station coordinates to a preset positioning engine to automatically obtain the wireless positioning base station coordinates.

[0048] In practice, UWB wireless positioning base stations covered with reflective tape are deployed in indoor positioning areas. LiDAR scans are used to generate a 3D point cloud model. The base stations are identified and their coordinates plotted based on the reflective tape features. These coordinates are then automatically pushed to the positioning engine, where the 3D model is displayed. This solves the existing issues of inefficient manual measurement and unintuitive display, enabling rapid and accurate acquisition of base station coordinates, meeting the system's requirements for rapid response and 3D display.

[0049] Furthermore, it also includes:

[0050] When plotting the base station coordinates, a preset high-precision coordinate plotting algorithm is used to ensure that the error of the plotted coordinates is within a preset range.

[0051] In specific implementation, based on the physical size of the reflective tape (such as a known radius or side length), the three-dimensional geometric center is fitted by the least squares method to generate the initial coordinates; further combined with the reference points in the positioning area (such as calibration objects with known coordinates) to perform error compensation, and the coordinate error is controlled within the preset range of the system design (such as sub-meter or centimeter level) through a preset precision calibration model (such as a Gaussian noise filter model).

[0052] Furthermore, the three-dimensional point cloud model has a data preprocessing function, which performs denoising and filtering on the scanned point cloud data.

[0053] Furthermore, the method further includes: using the three-dimensional point cloud model to plot the UWB wireless positioning base station identified based on the features of the reflective sticker attached to the surface of the UWB wireless positioning base station, and obtaining the base station coordinates before pushing the base station coordinates to the preset positioning engine, further comprising:

[0054] The coordinate data is encrypted to ensure the security of data transmission. Specifically, the AES-256 symmetric encryption algorithm or the RSA asymmetric encryption algorithm (depending on the system security level requirements) is used to encrypt the coordinate data (X, Y, Z coordinate values ​​or latitude and longitude coordinates).

[0055] Furthermore, it also includes:

[0056] The positioning engine can verify the received base station coordinates in real time and issue an alarm if the coordinate data is abnormal.

[0057] Furthermore, it also includes:

[0058] When scanning the base station deployment area, a multi-view scanning method is used to obtain more comprehensive point cloud data.

[0059] More specifically, the present invention relates to a method for obtaining coordinates of a wireless positioning base station suitable for indoor high-precision positioning systems. When using a UWB indoor positioning management system, by deploying UWB wireless positioning base stations in the positioning area and having the positioning target carry a UWB bracelet, sub-meter positioning and tracking can be achieved. The positioning data is then sent to the server through the LORA gateway, and the person's position can be accurately located in real time. The person's position information can be displayed on a map with zero delay, realizing location data visualization. At the same time, the location data is used to drive various business applications, including regional management and control, track query, electronic roll call and other functions. The UWB wireless positioning base station has a built-in rechargeable battery and a reflective sticker on the surface. It has a wide coverage range and uses a sticky deployment method. It has the characteristics of convenient deployment and withdrawal, and its appearance is as follows: Figure 2 As shown:

[0060] Based on the positioning requirements, wireless positioning base stations are deployed using one-dimensional positioning, two-dimensional positioning, or three-dimensional positioning. After the base stations are installed and deployed, the coordinates of the positioning base stations must be calibrated according to the system usage requirements. This will serve as the positioning reference for subsequent positioning personnel. The specific calibration plan is as follows:

[0061] Use a handheld or backpack laser radar scanning imaging device to scan the area where the base station is deployed one by one. After the scanning is completed, use dedicated 3D model software to fuse the generated data to generate a 3D point cloud model. At the same time, since the reflective stickers are affixed to the surface of the wireless base station, the generated 3D point cloud model is significantly different from the point cloud data of other objects, which makes it easy to plot the positioning base station in the 3D model software to obtain the base station coordinates, and then automatically push the coordinates to the positioning engine in the high-precision positioning system, thereby realizing the automatic acquisition of the coordinates of the wireless positioning base station. Finally, the positioning engine recognizes the generated 3D point cloud model and calls it into the positioning engine platform to finally intuitively display the high-precision positioning requirements of the positioning target in the model.

[0062] Through the method of this embodiment, the coordinate values ​​of the wireless positioning base station can be obtained quickly and accurately; the system operation time is saved and the rapid response requirements of the system are met; the traditional two-dimensional plane display method is changed, and a three-dimensional model map is intuitively adopted to facilitate personnel to observe the target area and make judgments. In the specific implementation, a preset number of UWB wireless positioning base stations are deployed in the preset indoor positioning area according to the actual positioning needs and regional characteristics. These UWB wireless positioning base stations are adhered with reflective stickers on the surface and are installed using a pasting deployment method, with built-in rechargeable batteries. The pasting deployment method makes the installation of the base station convenient and flexible, and can quickly adapt to different indoor environments; the built-in rechargeable battery ensures that the base station can work normally without an external power supply, thereby improving the independence and mobility of the system.

[0063] In one embodiment, a pre-set laser radar scanning imaging device is used to scan the UWB wireless positioning base station deployment area. The pre-set laser radar scanning imaging device can be a handheld laser radar scanning imaging device or a backpack laser radar scanning imaging device. Both devices are portable and can conveniently scan areas at different locations and angles. When scanning the base station deployment area, a multi-view scanning method is used to obtain more comprehensive point cloud data. Multi-view scanning can reduce scanning blind spots and improve the integrity and accuracy of the point cloud data.

[0064] More specifically, the acquired point cloud data is fused using a pre-set 3D model. This 3D point cloud model incorporates data preprocessing capabilities, performing denoising and filtering on the scanned point cloud data. Denoising removes noise points from the point cloud data, improving data quality; filtering smoothes the data, reducing fluctuations and making the point cloud data more regular, thereby generating an accurate and clear 3D point cloud model.

[0065] More specifically, the generated 3D point cloud model is used to plot the UWB wireless positioning base stations, based on the characteristics of the reflective stickers attached to their surfaces. The reflective stickers on the UWB wireless positioning base stations have specific shapes and colors to enhance their recognition within the 3D point cloud model, facilitating quick and accurate identification of the base station locations. A preset high-precision coordinate mapping algorithm is used to plot the base station coordinates, ensuring that the coordinate errors are within a preset range, thus guaranteeing accuracy.

[0066] More specifically, after obtaining the base station coordinates, the coordinate data is encrypted before being pushed to the preset positioning engine to ensure data security. This encryption prevents the coordinate data from being stolen or tampered with during transmission, ensuring data integrity and confidentiality. Once encrypted, the encrypted base station coordinates are pushed to the preset positioning engine, automatically obtaining wireless positioning base station coordinates.

[0067] More specifically, the positioning engine verifies received base station coordinates in real time. Based on pre-set rules and algorithms, the positioning engine determines whether the coordinate data meets requirements. If the coordinate data is abnormal, such as values ​​outside the acceptable range or excessive fluctuations, the positioning engine issues an alarm, prompting personnel to conduct inspections and address the situation, ensuring system stability and reliability.

[0068] In one embodiment, after loading the 3D point cloud model, the positioning engine updates the location display within the 3D point cloud model in real time based on the movement of the positioning target. The positioning target can be a person, object, or other object carrying a UWB tag. By updating the positioning target's position within the 3D point cloud model in real time, users can intuitively understand the positioning target's real-time location and movement trajectory, providing strong support for indoor positioning-related applications such as area management and control, trajectory query, and electronic roll call.

[0069] In summary, the present invention realizes the automatic acquisition of wireless positioning base station coordinates through a series of steps, and optimizes data processing, transmission, verification and display, thereby improving the accuracy, security and reliability of the indoor positioning system, and providing an effective solution to the needs of various industries for high-precision positioning technology.

[0070] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0071] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is at least two.

[0072] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0073] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0074] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0075] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0076] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0077] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0078] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for automatically acquiring the position coordinates of a positioning base station, characterized in that , the method comprises: A preset number of UWB wireless positioning base stations are deployed in a preset indoor positioning area; wherein the surface of the UWB wireless positioning base stations is adhered with reflective stickers; Scanning the UWB wireless positioning base station deployment area using a preset laser radar scanning imaging device to obtain point cloud data; fusing the point cloud data using a preset three-dimensional model to generate a three-dimensional point cloud model; Using the three-dimensional point cloud model, plotting the UWB wireless positioning base station identified based on the features of the reflective sticker attached to the surface of the UWB wireless positioning base station to obtain the base station coordinates; The base station coordinates are pushed to a preset positioning engine to achieve automatic acquisition of wireless positioning base station coordinates.

2. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: The preset laser radar scanning imaging device includes: Handheld laser radar scanning imaging device or backpack laser radar scanning imaging device.

3. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: The UWB wireless positioning base station is installed in a pasting deployment manner and has a built-in rechargeable battery.

4. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: Also includes: When plotting the base station coordinates, a preset high-precision coordinate plotting algorithm is used to ensure that the error of the plotted coordinates is within a preset range.

5. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: The three-dimensional point cloud model has a data preprocessing function, which performs denoising and filtering on the scanned point cloud data.

6. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: The method further includes: using the three-dimensional point cloud model to plot the UWB wireless positioning base station identified based on the features of the reflective sticker attached to the surface of the UWB wireless positioning base station, and obtaining the base station coordinates before pushing the base station coordinates to a preset positioning engine. The coordinate data is encrypted to ensure the security of data transmission.

7. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: Also includes: The positioning engine can verify the received base station coordinates in real time and issue an alarm if the coordinate data is abnormal.

8. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: Also includes: When scanning the base station deployment area, a multi-view scanning method is used to obtain more comprehensive point cloud data.

9. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: The reflective sticker of the UWB wireless positioning base station has a specific shape and color to enhance recognition in the three-dimensional point cloud model.

10. The method for automatically acquiring the position coordinates of a positioning base station according to claim 1, characterized in that: Also includes: After the positioning engine is loaded with the three-dimensional point cloud model, the position display of the positioning target in the three-dimensional point cloud model is updated in real time according to the movement of the positioning target.

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