UWB antenna calibration device and method

Abstract

The invention discloses a UWB antenna calibration device and method. The device comprises an actual installation platform used for installing UWB anchor points and an annular track. An actual installation platform computer is installed on the actual installation platform, and the UWB anchor points are in communication connection with the actual installation platform computer; a mobile platform carrying a UWB tag is arranged on the mobile track, a mobile platform computer and a navigation unit used for acquiring the position of the mobile platform are installed on the mobile platform, the navigation unit and the UWB tag are in communication connection with the mobile platform computer, and the mobile platform computer is in communication connection with the actual installation platform computer. The UWB anchor point network is deployed in an actual application scene, the UWB tag and the navigation unit are integrated by adopting the track-type mobile platform, the mobile platform can move according to a preset track and acquire related parameters in the movement process to complete calibration data acquisition and analysis operation to obtain calibration parameters, the operation logic is close to the actual application scene, and the calibration accuracy is improved. Cost is low, operation is convenient, and application prospects are good.

Description

Technical Field

[0001] This invention relates to the field of UWB calibration technology, and specifically to a calibration device and method for a UWB antenna. Background Technology

[0002] UWB antenna calibration is a crucial step in ensuring the accuracy of ultra-wideband positioning, primarily achieved by adjusting antenna delay parameters and compensating for environmental influences. Commonly used UWB antenna system calibration methods include... Figure 1 As shown, the system comprises three parts: a darkroom 2, a 3D turntable 3, and a computer 1. The calibration method is as follows: First, the UWB anchor point 5 to be calibrated is fixed on the 3D turntable 3. The UWB tag 4 is placed in a preset position inside the darkroom 2. The computer 1 establishes data communication connections with the 3D turntable 3, the UWB anchor point 5, and the UWB tag 4. Then, the computer 1 sends commands to drive the 3D turntable 3 to rotate the UWB anchor point 5 at preset angle intervals. At each target angle where the 3D turntable 3 stops, the computer, based on the rotation angle data of the 3D turntable 3 and the UWB anchor point 5 and UWB tag 4, performs data calibration. The preset installation position parameters of tag 4 are used to calculate the true angle and distance values ​​between the two. Meanwhile, test data generated by the interaction between UWB anchor point 5 and UWB tag 4 is read in real time, and the average of multiple test data at the same angle is calculated to obtain the test average. Then, the calibration value at each rotation angle is calculated according to the formula "calibration value = test average - true value". Finally, according to the data storage protocol and calibration rules of the UWB chip, the calibration values ​​corresponding to each angle are written one by one into the designated storage area of ​​the UWB chip, thus completing the calibration of the UWB antenna system. The above calibration method has the following drawbacks: 1) It only covers ideal environments, while actual application scenarios include more influencing factors, requiring more data support for the algorithm; 2) The system cost is high, with the construction cost of an anechoic chamber ranging from tens of thousands to hundreds of thousands of yuan.

[0003] Therefore, developing a low-cost UWB antenna calibration device that is closer to practical application scenarios and has a more convenient calibration operation is of great practical significance. Summary of the Invention

[0004] Due to the aforementioned deficiencies in existing technologies, this invention provides a low-cost UWB antenna calibration device that is closer to practical application scenarios and offers more convenient calibration operations. It can provide calibration data in practical application scenarios to provide more accurate data for algorithms, eliminates the need for an anechoic chamber, and has a low overall cost, thereby solving the problems of low matching degree between current UWB antenna calibration and practical application scenarios, excessive cost, and relatively complex calibration operations.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A kind of calibration device of UWB antenna, including the actual installation platform for installing UWB anchor point and annular track around the actual installation platform;

[0007] The actual installation platform is installed with actual installation platform computer, and the UWB anchor point is in communication connection with actual installation platform computer;

[0008] The track is arranged with mobile platform carrying UWB label, and mobile platform can move along track, mobile platform computer and navigation unit for obtaining the position of mobile platform are arranged on the mobile platform, the navigation unit, UWB label and mobile platform computer are in communication connection, and the mobile platform computer is in communication connection with actual installation platform computer.

[0009] The calibration device of UWB antenna of the application, in the actual application scene deployment UWB anchor point network, adopts track type mobile platform integrated UWB label and navigation unit, mobile platform can move according to preset trajectory and synchronously obtains distance, angle parameter in the process of motion, and then obtains the relevant data of calibration process, and the relevant data can be generated for calibrating UWB system by analyzing and operating, its operation logic is close to actual application scene and does not need darkroom, overall cost is low, calibration parameter can be quickly obtained by relying on data analysis and operation, overall operation is convenient, and it has excellent application prospect.

[0010] As a preferred technical solution:

[0011] The calibration device of UWB antenna as described above, the track is rectangular track.

[0012] The calibration device of UWB antenna as described above, the actual installation platform is arranged at the center of the track.

[0013] The calibration device of UWB antenna as described above, the navigation unit is inertial navigation unit, and skilled persons can select appropriate navigation unit according to actual demand, and inertial navigation unit (IMU) is selected here because it is the most common, most widely used and low-cost navigation unit.

[0014] The calibration device of UWB antenna as described above, the mobile platform is installed with driving unit for driving mobile platform to move along track, and the driving unit is in communication connection with mobile platform computer.

[0015] The application further provides a method for calibrating UWB antenna by using the calibration device of UWB antenna as described above, which comprises the following steps:

[0016] (1) annular track is laid around the actual installation platform, mobile platform is placed on the annular track, and initial position is recorded;

[0017] (2) install the to-be-tested UWB anchor point to the actual installation position of the actual installation platform, and install the UWB tag to the mobile platform;

[0018] (3) communicate and connect the to-be-tested UWB anchor point with the computer of the actual installation platform, the UWB tag with the computer of the mobile platform, and the computer of the actual installation platform with the computer of the mobile platform;

[0019] (4) input the distance angle of the initial position, the moving speed, and the parameters of the to-be-calibrated UWB antenna through the test control software installed on the computer of the actual installation platform or the computer of the mobile platform;

[0020] (5) open the data interaction of the to-be-tested UWB anchor point and the UWB tag, the test control software runs and controls the mobile platform to move according to the preset test method and records the data;

[0021] (6) the test control software outputs the calibration parameters after the test is completed.

[0022] During the test running process, the host computer (main control device) realizes interconnection with the UWB tag and the driving motor through the communication interface, supports closed-loop control of the moving speed, ensures accurate regulation and control of the platform motion state, and records the original data logs output by the UWB chip in real time during the system running process, covering the ranging value, the angle value, the real pose information of the platform, and the I / Q signal data. After the collected multi-dimensional data are analyzed and operated through the built-in algorithm (the related algorithm can be derived based on the common knowledge in the field), the calibration parameter set of the UWB system can be automatically generated. The method of the application not only can complete the basic calibration function, but also can quantitatively output the positioning accuracy index in multiple directions, provide the performance evaluation basis in the spatial dimension for the researchers, and provide key data support for the optimization iteration and model training of the positioning algorithm, and further improve the positioning performance and adaptability of the system.

[0023] As a preferred technical solution:

[0024] The method as described above determines the preset test method before laying the loop track.

[0025] The loop track is laid according to the test distance and range of the preset test method.

[0026] The method as described above, the parameters of the to-be-calibrated UWB antenna include antenna arrangement and antenna spacing.

[0027] The above technical solution is only one possible technical solution of the application, and the protection scope of the application is not limited to this. The person skilled in the art can reasonably adjust the specific design according to the actual needs.

[0028] The above application has the following advantages or beneficial effects:

[0029] (1) The calibration device of the UWB antenna of the present application, in the actual application scene, deploys the UWB anchor point network, integrates the UWB tag and the navigation unit with the track mobile platform, the mobile platform can move according to the preset track and synchronously acquire the distance and angle parameters in the movement process, and then acquire the related data of the calibration process, and the parameters for calibrating the UWB system can be generated by analyzing and operating the related data, the operation logic is close to the actual application scene, various installation environments can be tested, a darkroom is not needed, and the overall cost is low;

[0030] (2) The calibration device of the UWB antenna of the present application, using the track to match the mobile platform can adapt to various test distances and environments, and the adaptability is better;

[0031] (3) The method for calibrating the UWB antenna of the present application can not only complete the basic calibration function, but also quantitatively output the positioning accuracy indexes in multiple directions, and provide the performance evaluation basis of the spatial dimension for the researchers;

[0032] (4) The method for calibrating the UWB antenna of the present application, the calibration parameters can be quickly acquired by analyzing and operating the data, the overall operation is convenient and efficient, and the application prospect is excellent. BRIEF DESCRIPTION OF DRAWINGS

[0033] The present application and its features, shapes and advantages will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings. The same reference signs indicate the same parts throughout the drawings. The drawings are not drawn according to scale, and the emphasis is on showing the main idea of the present application.

[0034] Figure 1 It is a calibration schematic diagram of the prior art UWB antenna system;

[0035] Figure 2 It is a schematic diagram of the calibration device of the UWB antenna of the present application;

[0036] Figure 3 It is a communication schematic diagram of the actual installation platform and the mobile platform carrying the UWB tag;

[0037] Figure 4 It is a step sequence diagram of the calibration method of the UWB antenna of the present application;

[0038] Among them, 1 is a computer, 2 is a darkroom, 3 is a 3D turntable, 4 is a UWB tag, 5 is a UWB anchor point, 6 is an actual installation platform, 7 is a track, 8 is a mobile platform, 9 is a navigation unit, 10 is an actual installation platform computer, and 11 is a mobile platform computer. DETAILED DESCRIPTION

[0039] The structure of the present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0040] Example 1

[0041] A calibration device for a UWB antenna, such as Figure 2 As shown, it includes an actual installation platform 6 for installing UWB anchor points 5 and a ring track 7 (rectangular track) surrounding the actual installation platform 6, with the actual installation platform 6 arranged in the center of the track 7;

[0042] like Figure 3 As shown, the actual installation platform computer 10 is installed on the actual installation platform 6, and the UWB anchor point 5 is connected to the actual installation platform computer 10 for communication.

[0043] A mobile platform 8 equipped with a UWB tag 4 is arranged on the track 7 and the mobile platform 8 can move along the track 7. The mobile platform 8 is equipped with a mobile platform computer 11, a navigation unit 9 (inertial navigation unit, IMU) for obtaining the position of the mobile platform 8, and a drive unit for driving the mobile platform 8 to move along the track 7. The navigation unit 9, the UWB tag 4, the drive unit and the mobile platform computer 11 are communicatively connected. The mobile platform computer 11 is communicatively connected to the actual installed platform computer 10.

[0044] The method for calibrating a UWB antenna using the aforementioned UWB antenna calibration device is as follows: Figure 4 As shown, it includes the following steps:

[0045] (1) Determine the preset test method, lay a circular track around the actual installation platform, place the mobile platform on the circular track, and record the initial position;

[0046] (2) Install the UWB anchor point to be tested at the actual installation position on the actual installation platform, and install the UWB tag on the mobile platform;

[0047] (3) Connect the UWB anchor point to be tested to the actual installation platform computer, and the UWB tag to the mobile platform computer, and connect the actual installation platform computer to the mobile platform computer.

[0048] (4) Input the distance angle of the initial position, the moving speed and the parameters of the UWB antenna to be calibrated (including antenna arrangement and antenna spacing) through the test control software installed on the actual installation platform computer or mobile platform computer.

[0049] (5) Open the data interaction between the UWB anchor point to be tested and the UWB tag, run the test control software and control the mobile platform to move according to the preset test method and record the data;

[0050] (6) After the test is finished, the test control software outputs the calibration parameters.

[0051] It has been verified that the calibration device of the UWB antenna of the application can deploy the UWB anchor network in the actual application scene, integrate the UWB tag and the navigation unit with the track mobile platform, and the mobile platform can move according to the preset track and synchronously acquire the distance and angle parameters in the movement process, and then acquire the related data of the calibration process, and the parameters for calibrating the UWB system can be generated by analyzing and operating the related data, the running logic is close to the actual application scene, various installation environments can be tested, a darkroom is not needed, the overall cost is low, the track is used in cooperation with the mobile platform to adapt to various test distances and environments, and the adaptability is better; the UWB antenna calibration method of the application can not only complete the basic calibration function, but also quantitatively output the positioning accuracy indexes in multiple directions, and provide the performance evaluation basis of the spatial dimension for the researchers; the calibration parameters can be quickly acquired by analyzing and operating the data, the overall operation is convenient and efficient, and the application prospect is excellent.

[0052] Those skilled in the art should understand that the skilled in the art can realize the change examples in combination with the prior art and the above-mentioned embodiments, which are not described here in detail. Such change examples do not affect the essential content of the application, and are not described here in detail.

[0053] The preferred embodiments of the application are described above. It should be understood that the application is not limited to the above specific embodiments, and the devices and structures not described in detail should be understood as being implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the technical solutions of the application or modify them into equivalent embodiments with equivalent changes without departing from the scope of the technical solutions of the application, which does not affect the essential content of the application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the application, without departing from the scope of the technical solutions of the application, still belongs to the protection scope of the technical solutions of the application.

Claims

1. A calibration device for a UWB antenna, characterized in that: The actual installation platform and a circular track surrounding the actual installation platform are included for installing the UWB anchor point; An actual installation platform computer is installed on the actual installation platform, and the UWB anchor point is in communication connection with the actual installation platform computer; A mobile platform carrying a UWB tag is arranged on the track, and the mobile platform can move along the track, a mobile platform computer and a navigation unit for acquiring the position of the mobile platform are arranged on the mobile platform, the navigation unit, the UWB tag and the mobile platform computer are in communication connection, and the mobile platform computer is in communication connection with the actual installation platform computer.

2. The calibration device of claim 1, wherein, The track is a rectangular track.

3. The calibration device of claim 2, wherein, The actual installation platform is arranged in the center of the track.

4. The calibration device of claim 1, wherein, The navigation unit is an inertial navigation unit.

5. The calibration device of claim 1, wherein, A driving unit for driving the movement of the mobile platform along the track is installed on the mobile platform, and the driving unit is in communication connection with the mobile platform computer.

6. A method for calibrating a UWB antenna using the calibration device of any one of claims 1-5, wherein, The method comprises the following steps: (1) laying a circular track around the actual installation platform, placing the mobile platform on the circular track, and recording the initial position; (2) installing the to-be-tested UWB anchor point on the actual installation position of the actual installation platform, and installing the UWB tag on the mobile platform; (3) connecting the to-be-tested UWB anchor point with the actual installation platform computer, connecting the UWB tag with the mobile platform computer, and connecting the actual installation platform computer with the mobile platform computer; (4) inputting the distance angle of the initial position, the moving speed and the parameters of the to-be-calibrated UWB antenna through the test control software installed on the actual installation platform computer or the mobile platform computer; (5) opening the data interaction of the to-be-tested UWB anchor point and the UWB tag, running the test control software, controlling the mobile platform to move according to the preset test method, and recording the data; (6) outputting the calibration parameters by the test control software after the test is completed.

7. The method of claim 6, wherein, The preset test method is determined before laying the circular track. The circular track is laid according to the test distance and range of the preset test method.

8. The method of claim 6, wherein, The parameters of the to-be-calibrated UWB antenna include the antenna arrangement and the antenna spacing.

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