A base station position verification method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a base station position verification method and device, electronic equipment and storage medium, and relate to the technical field of base station positioning. The method comprises: obtaining a first distance between each to-be-verified base station in a group of to-be-verified base stations and a tag, and a to-be-verified three-dimensional coordinate of each to-be-verified base station; based on the height of each to-be-verified base station, the first distance between the to-be-verified base station and the tag, and the height of the tag, calculating the component of the first distance between the to-be-verified base station and the tag in the horizontal plane as a second distance; determining whether the to-be-verified three-dimensional coordinate of each to-be-verified base station is accurate according to the distribution of the intersection points between the to-be-detected circles corresponding to each to-be-verified base station in the group of to-be-verified base stations; the to-be-detected circle corresponding to one to-be-verified base station is located in the horizontal plane. In this way, the position information of the base station can be verified, and the reliability of the obtained position information of the base station is ensured.

Description

Technical Field

[0001] This application relates to the field of base station positioning technology, and in particular to a base station location verification method, device, electronic device and storage medium. Background Technology

[0002] With the rapid development of information technology, UWB (Ultra Wide Band) positioning technology has been widely applied in various application scenarios. Correspondingly, multiple UWB base stations can be deployed, communicating with UWB tags to achieve accurate tag positioning. Taking a factory environment as an example, by deploying UWB base stations at different locations on the factory ceiling and having employees wear name tags embedded with UWB tags, the precise location of employees can be achieved.

[0003] However, in related technologies, the accurate positioning of UWB tags directly depends on the accuracy of the location information of UWB base stations. The location information of UWB base stations is obtained through reference data from CAD (Computer Aided Design) maps or manual measurement. The obtained location information of UWB base stations may have large errors, that is, the obtained location information is inaccurate.

[0004] Therefore, how to verify the location information of UWB base stations to ensure the reliability of the obtained location information has become an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this application is to provide a base station location verification method, apparatus, electronic device, and storage medium to verify the location information of a base station and ensure the reliability of the obtained base station location information. The specific technical solution is as follows:

[0006] A first aspect of this application provides a base station location verification method, the method comprising:

[0007] Obtain the first distance between each base station to be verified and the tag in a set of base stations to be verified, and the three-dimensional coordinates of each base station to be verified; wherein, a set of base stations to be verified includes at least three base stations to be verified in a line-of-sight state; a base station to be verified in a line-of-sight state indicates that there is no obstruction between the base station to be verified and the tag;

[0008] Based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, the horizontal component of the first distance between the base station to be verified and the tag is calculated as the second distance;

[0009] Based on the distribution of the intersection points between the test circles corresponding to each test base station in the group of test base stations, the accuracy of the test three-dimensional coordinates of each test base station is determined; wherein, the test circle corresponding to a test base station is located in the horizontal plane, the center of the circle is the projection position of the test three-dimensional coordinates of the test base station on the horizontal plane, and the radius is the second distance corresponding to the test base station.

[0010] In some embodiments, determining whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station to be verified in the group of base stations to be verified includes:

[0011] Determine the intersection point between the detection circles corresponding to every two base stations to be verified;

[0012] Clustering is performed on the identified intersection points to obtain at least one clustered region.

[0013] From the at least one clustering region, determine the clustering region containing the most intersection points as the target clustering region;

[0014] Based on the positional relationship between the intersection point of the detection circle corresponding to each base station to be verified and other detection circles and the target clustering region, the accuracy of the three-dimensional coordinates of the base station to be verified is determined.

[0015] In some embodiments, determining whether the three-dimensional coordinates of the base station to be verified are accurate based on the positional relationship between the intersection point of the detection circle corresponding to each base station to be verified and other detection circles and the target clustering region includes:

[0016] For a base station to be verified, if the intersection points between the detection circle corresponding to the base station and other detection circles are not located within the target clustering region, then the three-dimensional coordinates of the base station to be verified are determined to be accurate.

[0017] If the third distance between each intersection point of the detection circle corresponding to the base station to be verified and other detection circles within the target clustering region and each other intersection point within the target clustering region is not less than a preset threshold, then the three-dimensional coordinates of the base station to be verified are determined to be inaccurate.

[0018] If, among the intersections between the detection circle corresponding to the base station to be verified and other detection circles, there is an intersection point located within the target clustering region, and the third distance between this intersection point and at least one other intersection point within the target clustering region is less than a preset threshold, then the three-dimensional coordinates of the base station to be verified are determined to be accurate.

[0019] In some embodiments, determining the intersection point between the detection circles corresponding to every two base stations to be verified includes:

[0020] For two base stations to be verified, if the distance between the centers of the two circles is greater than the sum of their radii, then the line connecting the centers of the two circles is determined.

[0021] For each of the two circles to be tested, the intersection of the connecting line with the circle to be tested is determined as the intersection between the circle to be tested and the other circle to be tested.

[0022] In some embodiments, before calculating the horizontal component of the first distance between the base station to be verified and the tag based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, as the second distance, the method further includes:

[0023] The height of each base station to be verified is determined based on the coordinate value of the three-dimensional coordinates of the base station to be verified in the vertical horizontal plane direction.

[0024] The step of calculating the horizontal component of the first distance between the base station to be verified and the tag, based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, as the second distance, includes:

[0025] For each base station to be verified, calculate the height difference between the height of the base station and the height of the tag.

[0026] Based on the obtained height difference and the first distance between the base station to be verified and the tag, the horizontal component of the first distance between the base station to be verified and the tag is calculated as the second distance.

[0027] In some embodiments, the first distance between a base station to be verified and the tag is measured using a time-of-flight ranging (TOF) algorithm.

[0028] In some embodiments, determining whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station to be verified in the group of base stations to be verified includes:

[0029] The system displays the detection circle corresponding to each base station in the group to be verified, so that users can determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station in the group to be verified.

[0030] A second aspect of this application provides a base station location verification device, the device comprising:

[0031] The first acquisition module is used to acquire the first distance between each base station to be verified and the tag in a group of base stations to be verified, and the three-dimensional coordinates of each base station to be verified; wherein, the group of base stations to be verified includes at least three base stations to be verified in a line-of-sight state; a base station to be verified in a line-of-sight state indicates that there is no obstruction between the base station to be verified and the tag;

[0032] The first calculation module is used to calculate the horizontal component of the first distance between the base station to be verified and the tag based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, as the second distance;

[0033] The verification module is used to determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station to be verified in the group of base stations to be verified. Among them, the detection circle corresponding to a base station to be verified is located in the horizontal plane, the center of the circle is the projection position of the three-dimensional coordinates of the base station to be verified on the horizontal plane, and the radius is the second distance corresponding to the base station to be verified.

[0034] A third aspect of this application provides a positioning system, the system comprising: a tag, a base station, and a processing device;

[0035] The processing device is used for any of the base station location verification methods described above.

[0036] In some embodiments, the system further includes: a display device;

[0037] The display device is used to display the test circle corresponding to each test base station in each group of test base stations, so that the user can determine whether the test three-dimensional coordinates of each test base station are accurate based on the distribution of the intersection points between the test circles corresponding to each test base station in the group of test base stations.

[0038] A fourth aspect of this application provides an electronic device, including:

[0039] Memory, used to store computer programs;

[0040] The processor, when executing a program stored in the memory, implements any of the base station location verification methods described above.

[0041] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the base station location verification methods described above.

[0042] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the base station location verification methods described above.

[0043] Beneficial effects of the embodiments in this application:

[0044] This application provides a base station location verification method. Since the first distance between a base station to be verified and a tag represents the straight-line distance between them in three-dimensional space, the horizontal component of this first distance can be calculated by combining the height of the base station and the height of the tag, thus obtaining the second distance corresponding to each base station. This allows the distance relationship between each base station and the tag in three-dimensional space to be transformed into a two-dimensional plane. The center of the detection circle corresponding to a base station is the projection position of the base station's three-dimensional coordinates on the horizontal plane, and the radius is the second distance corresponding to that base station. Furthermore, according to trigonometric geometry, in a two-dimensional plane, the position of a point to be located can be determined based on three reference points at different locations and the distances between the point to be located and each of these three reference points. Understandably, if the three-dimensional coordinates of each base station to be verified are accurate—that is, if the three-dimensional coordinates of each base station reflect its true location—then the detection circles corresponding to all base stations to be verified share a common point, which is the projection position of the tag in the horizontal plane. If one of the three-dimensional coordinates of each base station to be verified is inaccurate, then the detection circles corresponding to all base stations to be verified, except for the base station corresponding to the inaccurate coordinate, share a common point, which is the projection position of the tag in the horizontal plane. Accordingly, since the detection circle corresponding to the base station with the inaccurate three-dimensional coordinate does not pass through this point, it is possible to determine whether the three-dimensional coordinates of each base station to be verified are accurate, thus ensuring the reliability of the obtained base station location information.

[0045] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0047] Figure 1 A schematic diagram of the UWB positioning system provided in this application;

[0048] Figure 2 This is a first flowchart of a base station location verification method provided in an embodiment of this application;

[0049] Figure 3 This is a second flowchart of the base station location verification method provided in the embodiments of this application;

[0050] Figure 4 A schematic diagram illustrating the spatial relationship between a base station to be verified and a tag, provided as an embodiment of this application;

[0051] Figure 5 This is a third flowchart of the base station location verification method provided in the embodiments of this application;

[0052] Figure 6(a) is a first schematic diagram of the circle to be detected corresponding to a non-collinear base station provided in an embodiment of this application;

[0053] Figure 6(b) is a second schematic diagram of the circle to be detected corresponding to a non-collinear base station provided in an embodiment of this application;

[0054] Figure 7(a) is a first schematic diagram of the circle to be detected corresponding to the collinear base station provided in the embodiment of this application;

[0055] Figure 7(b) is a second schematic diagram of the circle to be detected corresponding to the collinear base station provided in the embodiment of this application;

[0056] Figure 8 A schematic diagram of the base station location verification process provided in an embodiment of this application;

[0057] Figure 9 A structural diagram of a base station location verification device provided in an embodiment of this application;

[0058] Figure 10 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0060] With the rapid development of information technology, UWB positioning technology has been widely applied in various application scenarios. Correspondingly, multiple UWB base stations (i.e., the base stations in this application) can be deployed to communicate with UWB tags (i.e., the tags in this application) to achieve accurate positioning of the UWB tags. UWB positioning technology features high precision, high anti-interference capability, high penetration, high security, and low power consumption.

[0061] Taking a factory environment as an example, by deploying UWB base stations at different locations on the factory ceiling and having employees wear name tags with UWB tags, it is possible to accurately locate the employees' positions.

[0062] However, in related technologies, the accurate positioning of UWB tags directly depends on the accuracy of the UWB base station locations. Distance between UWB base stations and UWB tags can be measured by transmitting and receiving UWB signals. Therefore, based on triangulation, the accurate positioning of UWB tags can be achieved according to the distances between the UWB tag and at least three UWB base stations.

[0063] The location of UWB base stations is obtained through reference data from CAD maps or manual measurement, which may contain significant errors. For example, inaccurate CAD maps, incorrect selection of reference objects when measuring the location of UWB base stations, or errors in recording the location of UWB base stations can all lead to discrepancies between the recorded location and the actual location of the UWB base station.

[0064] Therefore, how to verify the location of UWB base stations to ensure the reliability of the obtained base station locations has become an urgent problem to be solved.

[0065] This application provides a base station location verification method, which can be applied to electronic devices. The electronic device can be a processing device in a UWB positioning system. See also... Figure 1 , Figure 1 This is a schematic diagram of the UWB positioning system provided in this application. A UWB positioning system includes: at least three base stations 101, a processing device 102, a display device 103, and tags 104. The base stations 101 and tags 104 can measure distances by transmitting and receiving UWB signals. Correspondingly, the processing device 102 can communicate with the base stations 101 and obtain the ranging results (i.e., a first distance) from the base stations 101. Furthermore, the processing device 102 can process the ranging results of each base station 101 according to the base station location verification method provided in this application to obtain the detection circle corresponding to each base station 101. The processing results (i.e., the detection circle corresponding to each base station 101) obtained by the processing device 102 can also be displayed to the user through the display device 103.

[0066] See Figure 2 , Figure 2 A first flowchart of a base station location verification method provided in this application embodiment, the method includes the following steps:

[0067] S201: Obtain the first distance between each base station to be verified and the tag in a set of base stations to be verified, as well as the three-dimensional coordinates to be verified of each base station.

[0068] Among them, a group of base stations to be verified includes at least three base stations to be verified in line-of-sight mode; a base station to be verified in line-of-sight mode indicates that there is no obstruction between the base station to be verified and the tag.

[0069] S202: Based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, calculate the horizontal component of the first distance between the base station to be verified and the tag, and use it as the second distance.

[0070] S203: Based on the distribution of the intersection points between the detection circles corresponding to each base station in the group to be verified, determine whether the three-dimensional coordinates of each base station to be verified are accurate.

[0071] In this system, the detection circle corresponding to a base station to be verified is located in the horizontal plane, the center of the circle is the projection position of the three-dimensional coordinates of the base station to be verified on the horizontal plane, and the radius is the second distance corresponding to the base station to be verified.

[0072] This application provides a base station location verification method. Since the first distance between a base station to be verified and a tag represents the straight-line distance between them in three-dimensional space, the horizontal component of this first distance can be calculated by combining the height of the base station and the height of the tag, thus obtaining the second distance corresponding to each base station. This allows the distance relationship between each base station and the tag in three-dimensional space to be transformed into a two-dimensional plane. The center of the detection circle corresponding to a base station is the projection position of the base station's three-dimensional coordinates on the horizontal plane, and the radius is the second distance corresponding to that base station. Furthermore, according to trigonometric geometry, in a two-dimensional plane, the position of a point to be located can be determined based on three reference points at different locations and the distances between the point to be located and each of these three reference points. Understandably, if the three-dimensional coordinates of each base station to be verified are accurate—that is, if the three-dimensional coordinates of each base station reflect its true location—then the detection circles corresponding to all base stations to be verified share a common point, which is the projection position of the tag in the horizontal plane. If one of the three-dimensional coordinates of each base station to be verified is inaccurate, then the detection circles corresponding to all base stations to be verified, except for the base station corresponding to the inaccurate coordinate, share a common point, which is the projection position of the tag in the horizontal plane. Accordingly, since the detection circle corresponding to the base station with the inaccurate three-dimensional coordinate does not pass through this point, it is possible to determine whether the three-dimensional coordinates of each base station to be verified are accurate, thus ensuring the reliability of the obtained base station location information.

[0073] In this application, after each base station is deployed in a real-world scenario, technicians can determine the three-dimensional coordinates of the base station in the preset world coordinate system (i.e., the three-dimensional coordinates to be verified of each base station to be verified in this application) based on a reference object in the real-world scenario, the relative position between the base station and the reference object, and the three-dimensional coordinates of the reference object in the preset world coordinate system. Accordingly, the three-dimensional coordinates of the base station can represent the location of the base station in the real world.

[0074] For example, in the factory environment described above, multiple base stations can be deployed on the factory ceiling. Accordingly, technicians can pre-determine the three-dimensional coordinates of each base station in a preset world coordinate system.

[0075] In practical applications, the location information (i.e., the three-dimensional coordinates of the base stations) of each base station can be verified using the base station location verification method provided in this application, thereby reducing the workload of subsequent debugging of the UWB positioning system and accelerating the deployment of the UWB positioning system.

[0076] For step S201, the base station to be verified is the base station in the scenario whose location information needs to be determined to represent its true location, that is, the base station whose three-dimensional coordinates to be verified need to be determined to be accurate.

[0077] The tag can move in the environment where the base station is located. However, when performing a base station location verification according to the steps S201-S203 above, the tag's position is fixed.

[0078] Understandably, due to the influence of the surrounding environment of the tag and base station in the real world, when the tag is in a fixed position, it cannot be guaranteed that all the base stations to be tested are simultaneously in a line-of-sight state. Here, a base station being in a line-of-sight state means that there is no obstruction between the base station to be tested and the tag.

[0079] Therefore, all base stations to be verified in the scenario can be grouped. That is, when the tag is in a fixed position, all base stations currently in line-of-sight mode can be considered as a group of base stations to be verified, and this group contains at least three base stations in line-of-sight mode. Accordingly, after verifying the position information of each base station in a group of base stations to be verified, a new group of base stations to be verified can be determined by moving the tag's position, until the position information of all base stations in the scenario has been verified. It is understandable that the same base station can be verified multiple times, meaning that multiple groups of base stations to be verified can contain the same base station.

[0080] Thus, the base station location verification method provided in this application can be used to group and verify all base stations to be verified. For example, when verifying the location information of base stations in the aforementioned factory environment, the location of the moving tags can be used to group and verify all base stations to be verified in the factory.

[0081] Accordingly, for each base station in a set of base stations to be verified, the electronic device can obtain the first distance between the base station to be verified and the tag, as well as the three-dimensional coordinates of the base station to be verified.

[0082] The three-dimensional coordinates of a base station to be verified are: the three-dimensional coordinates of the base station to be verified, which are measured and recorded in advance by technicians. For example, the three-dimensional coordinates of a base station to be verified can be represented as (X1, Y1, Z1), where X1 is the value of the base station to be verified on the X-axis of the preset world coordinate system; the X-axis corresponds to the longitude direction in the horizontal plane; Y1 is the value of the base station to be verified on the Y-axis of the preset world coordinate system; the Y-axis corresponds to the latitude direction in the horizontal plane; and Z1 is the value of the base station to be verified on the Z-axis of the preset world coordinate system; the Z-axis represents the direction perpendicular to the horizontal plane.

[0083] In some embodiments, the first distance between a base station to be verified and a tag is measured using a time-of-flight (TOF) ranging algorithm.

[0084] In this embodiment of the application, the tag can send a first request signal to the base station to be verified at a first moment (which can be denoted as T1). After receiving the first request signal, the base station to be verified can determine the moment when it receives the first request signal as the second moment (which can be denoted as T2). Correspondingly, the base station to be verified can send a first response signal to the tag at a third moment (which can be denoted as T3). The tag can determine the moment when it receives the first response signal as the fourth moment (which can be denoted as T4).

[0085] Therefore, the first distance between the base station to be verified and the tag can be calculated using the following formula:

[0086]

[0087] Where S is the first distance between the base station to be verified and the tag, and C represents the speed of light.

[0088] Thus, for each base station to be verified in a line-of-sight state, by accurately measuring the round-trip time of the signal between the base station and the tag, and combining this with the propagation speed of electromagnetic waves (speed of light), the precise distance between the base station and the tag can be calculated. That is, the distance relationship between the base station to be verified and the tag in three-dimensional space (i.e., the first distance) can be measured using a time-of-flight ranging algorithm.

[0089] Regarding step S202, the installation height of the base station to be verified is typically higher than the height of the tag. The height of each base station to be verified represents its height relative to the ground in the real world. The height of the tag represents its height relative to the ground in the real world.

[0090] For a base station to be verified, the first distance between the base station and the tag can be decomposed into: a distance component in the horizontal plane and a distance component in the direction perpendicular to the horizontal plane. Here, the horizontal plane refers to a plane parallel to the ground.

[0091] In some embodiments, see Figure 3 , Figure 3 This is a second flowchart of the base station location verification method provided in the embodiments of this application. Figure 2 Based on this, prior to step S202, the method further includes:

[0092] S204: Determine the height of each base station to be verified based on its coordinates in the vertical horizontal plane of its three-dimensional coordinates.

[0093] Step S202 includes:

[0094] S2021: For each base station to be verified, calculate the height difference between the height of the base station and the height of the tag.

[0095] S2022: Based on the obtained height difference and the first distance between the base station to be verified and the tag, calculate the horizontal component of the first distance between the base station to be verified and the tag, and use it as the second distance.

[0096] In this embodiment of the application, the electronic device can also obtain the distance between the tag and the ground when measuring the first distance between each base station to be verified and the tag, that is, the height of the tag (which can be expressed as h).

[0097] For each base station to be verified, the distance between the base station and the ground, i.e., the height of the base station (which can be represented as H), can be determined based on the coordinate value of the base station in the vertical horizontal direction of its three-dimensional coordinate system. For example, if the XOY plane formed by the X and Y axes of the preset world coordinate system represents the ground, the coordinate value of the base station on the Z axis (i.e., in the vertical horizontal direction) in its three-dimensional coordinate system can be obtained as the height of the base station.

[0098] See Figure 4 , Figure 4 This is a schematic diagram illustrating the spatial relationship between a base station to be verified and a tag, provided as an embodiment of this application. Figure 4 In the diagram, the base station installed on the ceiling is the base station to be verified. The height of the base station (i.e., the base station height) is H, the height of the tag (i.e., the tag height) is h, the distance between the base station and the tag (i.e., the first distance) is R, and the ground projection value of this distance value R (i.e., the second distance) is r.

[0099] Accordingly, the electronic device can calculate the horizontal component (i.e., the second distance) of the first distance between the base station to be verified and the tag according to the following formula:

[0100]

[0101] Where r is the second distance, R is the first distance, H is the altitude of the base station to be verified, and h is the altitude of the tag.

[0102] Based on the above processing, the distance relationship between each base station to be verified and the tag in three-dimensional space can be transformed into a two-dimensional plane. Subsequently, a detection circle corresponding to each base station to be verified can be constructed in the horizontal plane to verify the base station position of each base station.

[0103] For step S203, for each base station to be verified in the group of base stations to be verified, the projection position of the base station to be verified on the horizontal plane can be obtained based on the values ​​of the three-dimensional coordinates of the base station to be verified in the X-axis and Y-axis directions.

[0104] For example, the three-dimensional coordinates of a base station to be verified can be represented as (X1, Y1, Z1), and the projection position of the base station on the horizontal plane is (X1, Y1).

[0105] Accordingly, within the horizontal plane, a circle can be defined with the projection position of the base station to be verified on the horizontal plane as the center and the second distance corresponding to the base station to be verified as the radius, which is used as the detection circle corresponding to the base station to be verified.

[0106] According to the principles of trigonometric geometry, in a two-dimensional plane, the position of a point to be located can be determined based on three reference points at different locations and the distances between the point to be located and each of these three reference points. It can be understood that if the three-dimensional coordinates of each base station to be verified are accurate—that is, if the three-dimensional coordinates of each base station reflect its true position—then the detection circles corresponding to all base stations to be verified share a common point, which is the projection position of the tag in the horizontal plane. If one of the three-dimensional coordinates of each base station to be verified is inaccurate, then the detection circles corresponding to all base stations to be verified, except for the base station corresponding to the inaccurate coordinate, share a common point, which is the projection position of the tag in the horizontal plane. Correspondingly, since the detection circle corresponding to the base station with the inaccurate three-dimensional coordinate does not pass through this point, after obtaining the detection circles corresponding to each base station in the group of base stations to be verified, the accuracy of the three-dimensional coordinates of each base station to be verified can be determined based on the distribution of the intersection points between these detection circles.

[0107] In some embodiments, see Figure 5 , Figure 5 This is a third flowchart of the base station location verification method provided in the embodiments of this application. Figure 2 Based on this, step S203 includes:

[0108] S2031: Determine the intersection point between the detection circles corresponding to every two base stations to be verified.

[0109] S2032: Perform clustering on the identified intersection points to obtain at least one clustered region.

[0110] S2033: Identify the cluster region with the most intersections from at least one cluster region as the target cluster region.

[0111] S2034: Based on the positional relationship between the intersection point of the detection circle corresponding to each base station to be verified and other detection circles and the target clustering region, determine whether the three-dimensional coordinates of the base station to be verified are accurate.

[0112] In this embodiment of the application, after obtaining the detection circle corresponding to each base station to be verified in the group of base stations to be verified, the intersection point between the detection circles corresponding to each pair of base stations to be verified can be determined according to the coordinate values ​​of each point on each detection circle.

[0113] For any two circles in a plane, the intersection point between them can be one of the following three cases:

[0114] Case 1: The two circles are separate, and the actual number of intersection points between the two circles is zero.

[0115] In some embodiments, even if the three-dimensional coordinates of the two base stations to be verified are accurate, errors in the measured first distance between the base station and the tag may still cause the two detection circles to be separated. To avoid the error caused by the measurement of the first distance affecting the verification result of the base station to be verified, when the two detection circles are separated, a point closest to the other detection circle can be determined from each of the two detection circles, and these points can be used as the intersection points between the two detection circles.

[0116] Accordingly, step S2031 includes:

[0117] Step 1: For the two base stations to be verified, if the distance between the centers of the two circles is greater than the sum of their radii, then the line connecting the centers of the two circles is determined.

[0118] Step 2: For each of the two circles to be tested, the intersection of the connecting line with the circle to be tested is determined as the intersection point between the circle to be tested and the other circle to be tested.

[0119] In this embodiment, for two test circles corresponding to two base stations to be verified, if the distance between the centers of the two test circles is greater than the sum of their radii, it indicates that the two test circles are separate, and the actual number of intersection points between them is zero. Accordingly, a line connecting the centers of the two test circles can be determined. For each of the two test circles, the intersection point of this line with the test circle is determined as the intersection point between that test circle and the other of the two test circles.

[0120] Based on the above processing, when measuring the first distance corresponding to a base station to be verified, there may be cases where the detection circle corresponding to the base station to be verified does not intersect with the detection circles corresponding to other base stations to be verified due to measurement errors. In order to verify the base station position of the base station to be verified based on the intersection of the detection circles corresponding to the base station to be verified, for two disjoint detection circles, a point closest to the other detection circle can be determined from each of the two detection circles, and these points can be used as the intersection points between the two detection circles. In this way, the impact of measurement errors on the verification results of the base station to be verified can be reduced.

[0121] Case 2: The two circles are tangent, and the actual number of intersection points between the two circles is one.

[0122] If the detection circle corresponding to one base station to be verified is internally tangent to the detection circle corresponding to another base station to be verified, then the two detection circles have an intersection point. Alternatively, if the detection circle corresponding to one base station to be verified is externally tangent to the detection circle corresponding to another base station to be verified, then the two detection circles have an intersection point.

[0123] Scenario 3: The two circles intersect, and the actual number of intersection points between the two circles is two.

[0124] If the detection circle corresponding to one base station to be verified intersects with the detection circle corresponding to another base station to be verified, then the two detection circles have two intersection points.

[0125] Referring to Figure 6(a), Figure 6(a) is a first schematic diagram of the detection circle corresponding to the non-collinear base stations provided in the embodiments of this application. In Figure 6(a), base stations 1, 2, 3 and 4 are distributed in the horizontal plane at preset intervals. The three-dimensional coordinates to be verified for base stations 1, 2, 3, and 4 are all accurate. That is, the three-dimensional coordinates to be verified for each base station are accurate. At this time, the radius of the detection circle corresponding to each base station is r. There are two intersection points (A1, A2) between the detection circle 1 corresponding to base station 1 and the detection circle 2 corresponding to base station 2. There are two intersection points (B1, B2) between the detection circle 1 corresponding to base station 1 and the detection circle 3 corresponding to base station 3. There is one intersection point (C1) between the detection circle 1 corresponding to base station 1 and the detection circle 4 corresponding to base station 4. There is one intersection point (D1) between the detection circle 2 corresponding to base station 2 and the detection circle 3 corresponding to base station 3. There are two intersection points (E1, E2) between the detection circle 2 corresponding to base station 2 and the detection circle 4 corresponding to base station 4. There are two intersection points (F1, F2) between the detection circle 3 corresponding to base station 3 and the detection circle 4 corresponding to base station 4.

[0126] Referring to Figure 6(b), Figure 6(b) is a second schematic diagram of the detection circle corresponding to a non-collinear base station provided in this application embodiment. In Figure 6(b), base stations 1, 2, 3, and 4 are distributed in the scene according to a preset interval. The three-dimensional coordinates to be verified for base stations 1, 2, and 3 are accurate, while the three-dimensional coordinates to be verified for base station 4 are inaccurate. That is, the three-dimensional coordinates to be verified for base stations 1, 2, and 3 are accurate, while the three-dimensional coordinates to be verified for base station 4 are inaccurate. At this point, the radius of the detection circle corresponding to each base station is r. There are two intersection points (A1, A2) between the detection circle 1 corresponding to base station 1 and the detection circle 2 corresponding to base station 2. There are two intersection points (B1, B2) between the detection circle 1 corresponding to base station 1 and the detection circle 3 corresponding to base station 3. The actual number of intersection points between the detection circle 1 corresponding to base station 1 and the detection circle 4 corresponding to base station 4 is 0. According to the above steps 1-2, we can determine two intersection points (C1, C2) between the detection circle 1 corresponding to base station 1 and the detection circle 4 corresponding to base station 4. There is one intersection point (D1) between the detection circle 2 corresponding to base station 2 and the detection circle 3 corresponding to base station 3. There are two intersection points (E1, E2) between the detection circle 2 corresponding to base station 2 and the detection circle 4 corresponding to base station 4. There are two intersection points (F1, F2) between the detection circle 3 corresponding to base station 3 and the detection circle 4 corresponding to base station 4.

[0127] Referring to Figure 7(a), Figure 7(a) is a first schematic diagram of the detection circle corresponding to the collinear base station provided in the embodiment of this application. In Figure 7(a), base station 1, base station 2, and base station 3 are distributed in a specified direction at a preset interval. The three-dimensional coordinates to be verified of base station 1, base station 2, and base station 3 are all accurate, that is, the three-dimensional coordinates to be verified of base station 1, base station 2, and base station 3 are accurate. At this time, among the detection circles corresponding to each base station, there is an intersection point (A1) between the detection circle 1 corresponding to base station 1 and the detection circle 2 corresponding to base station 2, an intersection point (B1) between the detection circle 1 corresponding to base station 1 and the detection circle 3 corresponding to base station 3, and an intersection point (C1) between the detection circle 2 corresponding to base station 2 and the detection circle 3 corresponding to base station 3.

[0128] Referring to Figure 7(b), Figure 7(b) is a second schematic diagram of the detection circle corresponding to the collinear base station provided in the embodiment of this application. In Figure 7(b), base station 1, base station 2, and base station 3 are distributed in a specified direction at a preset interval. The three-dimensional coordinates to be verified for base station 2 and base station 3 are accurate, while the three-dimensional coordinates to be verified for base station 1 are inaccurate. That is, the three-dimensional coordinates to be verified for base station 2 and base station 3 are accurate, while the three-dimensional coordinates to be verified for base station 1 are inaccurate. At this point, among the circles to be detected corresponding to each base station, the actual number of intersection points between the circle to be detected 1 corresponding to base station 1 and the circle to be detected 2 corresponding to base station 2 is 0. According to the above steps 1-2, the two intersection points (A1, A2) between the circle to be detected 1 corresponding to base station 1 and the circle to be detected 2 corresponding to base station 2 can be determined. The actual number of intersection points between the circle to be detected 1 corresponding to base station 1 and the circle to be detected 3 corresponding to base station 3 is 0. According to the above steps 1-2, the two intersection points (B1, B2) between the circle to be detected 1 corresponding to base station 1 and the circle to be detected 3 corresponding to base station 3 can be determined. There is one intersection point (C1) between the circle to be detected 2 corresponding to base station 2 and the circle to be detected 3 corresponding to base station 3.

[0129] After obtaining all the intersection points of the detection circles corresponding to each base station in the group to be verified, the determined intersection points can be clustered according to a preset clustering algorithm to obtain at least one clustered region. The size of a clustered region is set by the technicians based on actual needs. For example, the clustering algorithm can be: K-MEANS clustering algorithm, Mean shift clustering algorithm, or hierarchical clustering algorithm, etc.

[0130] If the 3D coordinates of multiple base stations to be verified are accurate (i.e., their 3D coordinates are accurate), then the intersection points between the corresponding test circles of these base stations are relatively concentrated. Therefore, the cluster region with the most intersection points obtained from clustering can be used as the target cluster region. In other words, the intersection points between the test circle of a base station with accurate 3D coordinates and other test circles are usually distributed within this target cluster region. Thus, based on the positional relationship between the intersection points of each base station's test circle and other test circles and the target cluster region, it can be determined that the 3D coordinates of that base station are inaccurate.

[0131] In some embodiments, for a base station to be verified, the positional relationship between the intersection point of the detection circle corresponding to the base station and other detection circles and the target clustering region can be divided into the following three cases:

[0132] Scenario 1: If the intersection points between the detection circle corresponding to the base station to be verified and other detection circles are not located within the target clustering region, then the three-dimensional coordinates of the base station to be verified are inaccurate.

[0133] In this embodiment of the application, if the three-dimensional coordinates of a base station to be verified are inaccurate, that is, the location information (i.e. the three-dimensional coordinates to be verified) of the base station to be verified does not match the actual installation location of the base station in the real world.

[0134] When the X and Y axis values ​​of the base station to be verified contain errors, but the Z axis value is correct, the projected position of the base station's three-dimensional coordinates on the horizontal plane is inconsistent with its true projection position. Therefore, the center of the circle corresponding to the base station deviates from the true value, causing the intersection point between the circle and other circles to be verified to be outside the target clustering region.

[0135] When there are no errors in the X and Y axis values ​​of the three-dimensional coordinates of the base station to be verified, but there are errors in the Z axis value, the radius of the circle to be verified corresponding to the base station (i.e., the second distance) is calculated based on the first distance between the base station and the tag, the height of the base station (i.e., the value on the Z axis), and the height of the tag. Therefore, the calculated second distance cannot reflect the true distance component between the base station and the tag in the horizontal plane, resulting in the intersection point between the circle to be verified corresponding to the base station and other circles to be verified not being located within the target clustering region.

[0136] Therefore, if the intersection points between the detection circle corresponding to a base station to be verified and other detection circles are not located within the target clustering region, then the three-dimensional coordinates of the base station to be verified are determined to be inaccurate.

[0137] Scenario 2: If the third distance between each intersection point of the detection circle corresponding to the base station to be verified and other detection circles within the target clustering region and each other intersection point within the target clustering region is not less than a preset threshold, then the three-dimensional coordinates of the base station to be verified are determined to be inaccurate.

[0138] In this embodiment of the application, in order to further improve the accuracy of the verification and avoid the error generated by the clustering region from affecting the verification result of the base station to be verified, for each base station to be verified, if the third distance between each intersection point of the detection circle corresponding to the base station to be verified and other detection circles within the target clustering region and each other intersection point within the target clustering region is not less than a preset threshold, it indicates that the position of the intersection point cannot represent the projection position of the tag, and then it is determined that the three-dimensional coordinates of the base station to be verified are inaccurate.

[0139] Case 3: If, among the intersections between the detection circle corresponding to the base station to be verified and other detection circles, there is an intersection point located within the target clustering region, and the third distance between this intersection point and at least one other intersection point within the target clustering region is less than a preset threshold, then the three-dimensional coordinates of the base station to be verified are determined to be accurate.

[0140] In this embodiment of the application, if there is an intersection point located within the target clustering region among the intersection points between the detection circle corresponding to the base station to be verified and other detection circles, and the third distance between the intersection point and at least one other intersection point within the target clustering region is less than a preset threshold, it indicates that the position of the intersection point can represent the projection position of the tag, and it can be determined that the three-dimensional coordinates of the base station to be verified are accurate.

[0141] Based on the above processing, clustering the intersection points to determine the target clustering region can reduce the impact of errors on the verification results of the base station under test. In other words, even if there are small errors in the first distance and / or three-dimensional coordinates of a base station, it will not affect the verification results of that base station. Furthermore, it can automate base station location verification, improving verification efficiency when there are many base stations and many intersection points between them, facilitating the rapid location of base stations with positional deviations.

[0142] In some embodiments, after obtaining the detection circle corresponding to each base station in the group of base stations to be verified, it can also be displayed on a display device. Accordingly, step S203 includes:

[0143] The system displays the detection circle corresponding to each base station in the group to be verified, so that users can determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station in the group to be verified.

[0144] In this embodiment, the display device of the UWB positioning system described above can display the detection circle corresponding to each base station in the group of base stations to be verified. Accordingly, the user can determine the base station whose detection circle deviates from other detection circles based on the distribution of the intersection points between the detection circles corresponding to each base station in the group of base stations to be verified.

[0145] For example, the display device can display the test circles corresponding to each base station to be verified, as shown in Figures 6(a), 6(b), 7(a), and 7(b). Accordingly, for Figure 6(b), the user can observe that the test circle corresponding to base station 4 in Figure 6(b) deviates from the other test circles, thus determining that the three-dimensional coordinates of base station 4 are inaccurate. For Figure 7(b), the user can observe that the test circle corresponding to base station 1 in Figure 7(b) deviates from the other test circles, thus determining that the three-dimensional coordinates of base station 1 are inaccurate. The user can click on a test circle that has deviated from the other test circles (i.e., the test circle corresponding to the base station with inaccurate three-dimensional coordinates), and the electronic device can determine the base station to which that test circle belongs based on the user's click.

[0146] Based on the above processing, the detection circle corresponding to each base station to be verified can be directly displayed, so that users can observe the positional relationship between each detection circle and meet the user's personalized needs.

[0147] See Figure 8 , Figure 8 This is a schematic diagram of the base station location verification process provided in an embodiment of this application.

[0148] S801: Start.

[0149] S802: Obtain the tag height and base station coordinates.

[0150] That is, obtain the height (h) of the pre-specified tag and the three-dimensional coordinates of each base station to be verified.

[0151] S803: Select an area and ensure that the tag and the base station to be verified are at line-of-sight.

[0152] That is, a set of base stations to be verified is determined. Among them, a set of base stations to be verified includes at least three base stations in line-of-sight mode; a base station in line-of-sight mode indicates that there is no obstruction between the base station to be verified and the tag.

[0153] S804: Select the location of the tag within this area and draw a circle for the base station.

[0154] That is, by following the steps S201-S202 above, the detection circle corresponding to each base station to be verified in the group of base stations to be verified is obtained.

[0155] S805: Based on the detection circle corresponding to each base station to be verified, determine whether there are any base stations that have failed verification. If so, proceed to step S806. If not, proceed to step S807.

[0156] That is, according to step S203 above, based on the distribution of the intersection points between the detection circles corresponding to each base station to be verified in the group of base stations to be verified, it is determined whether the three-dimensional coordinates of each base station to be verified are accurate.

[0157] If there is a base station that fails the verification, it means that the three-dimensional coordinates to be verified of the base station that fails the verification are inaccurate, and then step S806 is executed.

[0158] If there are no base stations that fail the verification, it means that the three-dimensional coordinates of each base station to be verified in the group have not deviated from their actual positions, and then step S807 is executed.

[0159] S806: Adjust the base station coordinates.

[0160] That is, technicians can redetermine and update the location information (i.e., three-dimensional coordinates) of the base station that failed the verification.

[0161] S807: Determine whether all base stations have passed verification. If yes, proceed to step S808; otherwise, return to step S803.

[0162] That is, if there are still base stations that have not passed verification among all base stations in the scenario, then the process can return to step S803 above to determine a new set of base stations to be verified. This new set of base stations to be verified may include base stations that have undergone base station location verification and passed the verification.

[0163] S808: End.

[0164] Based on the same inventive concept, embodiments of this application provide a positioning system, the system including: a tag, a base station, and a processing device;

[0165] The processing device is used to implement any of the base station location verification methods in the above embodiments.

[0166] In some embodiments, the system further includes: a display device;

[0167] The display device is used to display the test circle corresponding to each base station in each group of base stations to be verified, so that the user can determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the test circles corresponding to each base station in the group of base stations to be verified.

[0168] Based on the same inventive concept, this application provides a base station location verification device, see [link to relevant documentation]. Figure 9 , Figure 9 This is a structural diagram of a base station location verification device provided in an embodiment of this application. The device includes:

[0169] The first acquisition module 901 is used to acquire the first distance between each base station to be verified and the tag in a group of base stations to be verified, and the three-dimensional coordinates of each base station to be verified; wherein, the group of base stations to be verified includes at least three base stations to be verified in a line-of-sight state; a base station to be verified in a line-of-sight state indicates that there is no obstruction between the base station to be verified and the tag.

[0170] The first calculation module 902 is used to calculate the horizontal component of the first distance between the base station to be verified and the tag based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, as the second distance;

[0171] The verification module 903 is used to determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station to be verified in the group of base stations to be verified. The detection circle corresponding to a base station to be verified is located in the horizontal plane, the center of the circle is the projection position of the three-dimensional coordinates of the base station to be verified on the horizontal plane, and the radius is the second distance corresponding to the base station to be verified.

[0172] In some embodiments, the verification module 903 includes:

[0173] The intersection point determination submodule is used to determine the intersection point between the circles to be detected corresponding to every two base stations to be verified;

[0174] The clustering region determination submodule is used to perform clustering processing on the determined intersection points to obtain at least one clustering region;

[0175] The clustering region selection submodule is used to determine the clustering region with the most intersection points from the at least one clustering region, as the target clustering region;

[0176] The verification module submodule is used to determine whether the three-dimensional coordinates of the base station to be verified are accurate based on the positional relationship between the intersection point of the detection circle corresponding to each base station to be verified and other detection circles and the target clustering region.

[0177] In some embodiments, the verification module submodule is specifically used for:

[0178] For a base station to be verified, if the intersection points between the detection circle corresponding to the base station and other detection circles are not located within the target clustering region, then the three-dimensional coordinates of the base station to be verified are determined to be inaccurate.

[0179] If the third distance between each intersection point of the detection circle corresponding to the base station to be verified and other detection circles within the target clustering region and each other intersection point within the target clustering region is not less than a preset threshold, then the three-dimensional coordinates of the base station to be verified are determined to be inaccurate.

[0180] If, among the intersections between the detection circle corresponding to the base station to be verified and other detection circles, there is an intersection point located within the target clustering region, and the third distance between this intersection point and at least one other intersection point within the target clustering region is less than a preset threshold, then the three-dimensional coordinates of the base station to be verified are determined to be accurate.

[0181] In some embodiments, the intersection point determination submodule is specifically used for:

[0182] For two base stations to be verified, if the distance between the centers of the two circles is greater than the sum of their radii, then the line connecting the centers of the two circles is determined.

[0183] For each of the two circles to be tested, the intersection of the connecting line with the circle to be tested is determined as the intersection between the circle to be tested and the other circle to be tested.

[0184] In some embodiments, the apparatus further includes:

[0185] The base station height acquisition module is used to determine the height of the base station to be verified based on the coordinate value of the three-dimensional coordinates of the base station to be verified in the direction perpendicular to the horizontal plane before calculating the horizontal component of the first distance between the base station to be verified and the tag based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, as the second distance.

[0186] The first calculation module 902 is specifically used for:

[0187] For each base station to be verified, calculate the height difference between the height of the base station and the height of the tag.

[0188] Based on the obtained height difference and the first distance between the base station to be verified and the tag, the horizontal component of the first distance between the base station to be verified and the tag is calculated as the second distance.

[0189] In some embodiments, the first distance between a base station to be verified and the tag is measured using a time-of-flight ranging (TOF) algorithm.

[0190] In some embodiments, the verification module 903 is specifically used for:

[0191] The system displays the detection circle corresponding to each base station in the group to be verified, so that users can determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station in the group to be verified.

[0192] This application also provides an electronic device, such as... Figure 10 As shown, it includes:

[0193] Memory 1001 is used to store computer programs;

[0194] When the processor 1002 executes the program stored in the memory 1001, it implements the steps of any of the base station location verification methods in the above embodiments.

[0195] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 1002, the communication interface, and the memory 1001 communicating with each other via the communication bus.

[0196] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0197] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0198] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0199] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0200] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described base station location verification methods.

[0201] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the base station location verification methods described above.

[0202] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0203] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0204] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for apparatus, electronic devices, and computer-readable storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0205] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A base station location verification method, characterized in that, The method includes: Obtain the first distance between each base station to be verified and the tag in a set of base stations to be verified, and the three-dimensional coordinates of each base station to be verified; wherein, a set of base stations to be verified includes at least three base stations to be verified in a line-of-sight state; a base station to be verified in a line-of-sight state indicates that there is no obstruction between the base station to be verified and the tag; Based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, the horizontal component of the first distance between the base station to be verified and the tag is calculated as the second distance; Based on the distribution of the intersection points between the test circles corresponding to each test base station in the group of test base stations, determine whether the test three-dimensional coordinates of each test base station are accurate; wherein, the test circle corresponding to a test base station is located in the horizontal plane, the center of the circle is the projection position of the test three-dimensional coordinates of the test base station on the horizontal plane, and the radius is the second distance corresponding to the test base station. The step of determining the accuracy of the three-dimensional coordinates of each base station to be verified based on the distribution of the intersection points between the detection circles corresponding to each base station in the group to be verified includes: Determine the intersection point between the detection circles corresponding to every two base stations to be verified; Clustering is performed on the identified intersection points to obtain at least one clustered region. From the at least one clustering region, determine the clustering region containing the most intersection points as the target clustering region; Based on the positional relationship between the intersection point of the detection circle corresponding to each base station to be verified and other detection circles and the target clustering region, determine whether the three-dimensional coordinates of the base station to be verified are accurate. or, The system displays the test circle corresponding to each base station in the group to be verified, so that the user can determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the test circles corresponding to each base station in the group to be verified. The base station to be verified with inaccurate three-dimensional coordinates is the base station whose corresponding test circle determined by the user deviates from other test circles.

2. The method according to claim 1, characterized in that, The step of determining whether the three-dimensional coordinates of the base station to be verified are accurate based on the positional relationship between the intersection point of the detection circle corresponding to each base station to be verified and other detection circles and the target clustering region includes: For a base station to be verified, if the intersection points between the detection circle corresponding to the base station and other detection circles are not located within the target clustering region, then the three-dimensional coordinates of the base station to be verified are determined to be accurate. If the third distance between each intersection point of the detection circle corresponding to the base station to be verified and other detection circles within the target clustering region and each other intersection point within the target clustering region is not less than a preset threshold, then the three-dimensional coordinates of the base station to be verified are determined to be inaccurate. If, among the intersections between the detection circle corresponding to the base station to be verified and other detection circles, there is an intersection point located within the target clustering region, and the third distance between this intersection point and at least one other intersection point within the target clustering region is less than a preset threshold, then the three-dimensional coordinates of the base station to be verified are determined to be accurate.

3. The method according to claim 1, characterized in that, Determining the intersection point between the detection circles corresponding to every two base stations to be verified includes: For two base stations to be verified, if the distance between the centers of the two circles is greater than the sum of their radii, then the line connecting the centers of the two circles is determined. For each of the two circles to be tested, the intersection of the connecting line with the circle to be tested is determined as the intersection between the circle to be tested and the other circle to be tested.

4. The method according to claim 1, characterized in that, Before calculating the horizontal component of the first distance between the base station to be verified and the tag based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, as the second distance, the method further includes: The height of each base station to be verified is determined based on the coordinate value of the three-dimensional coordinates of the base station to be verified in the vertical horizontal plane direction. The step of calculating the horizontal component of the first distance between the base station to be verified and the tag, based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, as the second distance, includes: For each base station to be verified, calculate the height difference between the height of the base station and the height of the tag. Based on the obtained height difference and the first distance between the base station to be verified and the tag, the horizontal component of the first distance between the base station to be verified and the tag is calculated as the second distance.

5. The method according to claim 1, characterized in that, The first distance between a base station to be verified and the tag is measured using a Time-of-Flight (TOF) ranging algorithm.

6. A base station location verification device, characterized in that, The device includes: The first acquisition module is used to acquire the first distance between each base station to be verified and the tag in a group of base stations to be verified, and the three-dimensional coordinates of each base station to be verified; wherein, the group of base stations to be verified includes at least three base stations to be verified in a line-of-sight state; a base station to be verified in a line-of-sight state indicates that there is no obstruction between the base station to be verified and the tag; The first calculation module is used to calculate the horizontal component of the first distance between the base station to be verified and the tag based on the height of each base station to be verified, the first distance between the base station to be verified and the tag, and the height of the tag, as the second distance; The verification module is used to determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station to be verified in the group of base stations to be verified. The detection circle corresponding to a base station to be verified is located in the horizontal plane, the center of the circle is the projection position of the three-dimensional coordinates of the base station to be verified on the horizontal plane, and the radius is the second distance corresponding to the base station to be verified. The verification module includes: The intersection point determination submodule is used to determine the intersection point between the circles to be detected corresponding to every two base stations to be verified; The clustering region determination submodule is used to perform clustering processing on the determined intersection points to obtain at least one clustering region; The clustering region selection submodule is used to determine the clustering region with the most intersection points from the at least one clustering region, as the target clustering region; The verification module submodule is used to determine whether the three-dimensional coordinates of the base station to be verified are accurate based on the positional relationship between the intersection point of the detection circle corresponding to each base station to be verified and other detection circles and the target clustering region. or, The verification module is specifically used to display the detection circle corresponding to each base station in the group of base stations to be verified, so that the user can determine whether the three-dimensional coordinates of each base station to be verified are accurate based on the distribution of the intersection points between the detection circles corresponding to each base station in the group of base stations to be verified. The base station whose three-dimensional coordinates are inaccurate is the base station whose corresponding detection circle determined by the user deviates from other detection circles.

7. A positioning system, characterized in that, The system includes: tags, base stations, and processing equipment; The processing device is used to implement the base station location verification method according to any one of claims 1-5.

8. The system according to claim 7, characterized in that, The system also includes: a display device; The display device is used to display the test circle corresponding to each test base station in each group of test base stations, so that the user can determine whether the test three-dimensional coordinates of each test base station are accurate based on the distribution of the intersection points between the test circles corresponding to each test base station in the group of test base stations.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-5.

Images