A planar positioning device and method

Abstract

The application relates to a plane positioning device, which comprises a label and two base stations with the same structure; the two base stations comprise a first base station and a second base station; the first base station comprises a first power supply module, a first MCU master control module and a first ranging module; and the label comprises a second power supply module, a second MCU master control module, a second ranging module, a wireless sending module and a display module. The application does not need to strictly limit the installation direction, is not limited by complex environmental factors such as surrounding obstacles, and greatly enhances the deployment possibility of the device in a complex scene; the application reduces the number of base station deployments, and reduces the hardware procurement and installation cost; the base station fixing process is simple, does not need complex debugging, and can be quickly completed by an ordinary user, so that the use threshold is obviously reduced, and the application requirement is adapted.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, and in particular to a planar positioning device and method. Background Technology

[0002] Positioning systems, as a crucial component of modern technology, have been widely applied in various fields, such as navigation, logistics, communication, disaster relief, and precision agriculture. Current core positioning technologies can accurately locate any point on the Earth's surface. Although satellite positioning systems have wide coverage, in indoor, underground, or small, enclosed spaces, signals are easily blocked or interfered with, leading to a significant decrease in positioning accuracy or even complete malfunction. Furthermore, existing small-area planar positioning solutions require the deployment of multiple base stations, which have strict requirements for base station placement and necessitate accurate pre-measurement and calibration, resulting in high hardware costs and complex installation and debugging.

[0003] The existing literature, "Long Baseline High-Precision GNSS Relative Positioning Algorithm" (Northwestern Polytechnical University, 2013, 31(3): 451-456), points out that the traditional GNSS relative positioning algorithm assumes that the satellite signal reaches the reference station and the propagation direction of the rover station are parallel. This assumption will produce significant errors when the baseline length increases. In the existing scheme, the relative position accuracy based on single-point positioning conversion is only on the order of 10m. Even after improvement through pseudorange error compensation, the accuracy is still around 4m. Moreover, the positioning performance of the centimeter-level accuracy scheme will rapidly decrease with the increase of the baseline length, which cannot meet the high-precision positioning requirements of non-satellite signal scenarios such as indoor and small-scale enclosed spaces.

[0004] The patent application with application number 201110115222.4, entitled "Method for Determining the Relative Position of Two Ships Based on a Laser Rangefinder," proposes a positioning scheme for specific scenarios (such as ship tracking) that has significant limitations. Some schemes only focus on tracking control logic and do not specify the specific method for measuring the relative position; schemes relying on infrared imaging fail in close-range scenarios; even schemes using laser rangefinders require strict limitations on sensor installation locations (such as the middle of the side of a rescue vessel or the stern side), and are only suitable for the specific scenario of ships, lacking deployment flexibility and versatility in small-scale planar scenarios, and failing to meet the convenient positioning needs of moving targets in ordinary indoor and enclosed spaces. Therefore, there is an urgent need for a planar positioning device and method that is easy to deploy, accurate in positioning, and has strong real-time performance to solve the positioning problems in the above-mentioned scenarios. Summary of the Invention

[0005] To address the issues of existing technologies requiring a large number of base stations and strict calibration of their locations, the primary objective of this invention is to provide a planar positioning device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a planar positioning device, comprising a tag and two base stations with identical structures; the two base stations include a first base station and a second base station; the first base station includes:

[0007] The first power supply module is used to supply power to the first MCU main control module and the first ranging module;

[0008] The first MCU main control module uses an STM32F103C8T6 chip to control the first ranging module to measure the distance between the tag and the first base station.

[0009] The first ranging module uses a UWB module to measure the distance between the tag and the first base station;

[0010] The labels include:

[0011] The second power supply module is used to supply power to the second MCU main control module, the second ranging module, the wireless transmission module and the display module;

[0012] The second MCU main control module uses an STM32F103C8T6 chip to control the second ranging module to measure the distance between the tag and the first base station and the second base station.

[0013] The second ranging module uses a UWB module to measure the distance between the tag and the first and second base stations.

[0014] The wireless transmission module uses a wireless-to-serial communication module to receive the coordinate data of the tag output by the second MCU main control module at 115200bps, thereby realizing communication between the tag and the back-end server.

[0015] The display module uses an OLED screen to display the position coordinates of the label.

[0016] The first MCU main control module communicates bidirectionally with the first ranging module, the second MCU main control module communicates bidirectionally with the second ranging module, the output terminal of the second MCU main control module is connected to the input terminal of the wireless transmission module and the display module respectively, and the first ranging module and the second ranging module communicate bidirectionally.

[0017] Another object of the present invention is to provide a positioning method for a planar positioning device, the method comprising the following sequential steps:

[0018] (1) Set the working area: The working area is a planar area and is rectangular. The rectangle is divided into coordinate points by an interval distance d, and the minimum unit of d is 10cm. The interval distance d and the length and width information of the rectangle are saved and recorded in the second MCU main control module. The first base station and the second base station are placed outside the rectangular area and fixed after placement.

[0019] (2) Tag positioning initialization: Place the tag at the four vertices of the rectangular area in sequence. At each vertices, the second MCU main control module records the two distance values ​​between the tag and the first base station and the second base station obtained by the second ranging module and stores them. After recording the distance information of the four vertices, the second MCU main control module calculates the theoretical distance from all coordinate points on the rectangular area to the first base station and the second base station.

[0020] (3) Real-time positioning mode: The tag can move arbitrarily within the rectangular area, and the second MCU main control module controls the second ranging module to measure the distance between the tag and the first base station. The second MCU main control module controls the second ranging module to measure the distance between the tag and the second base station. Calculate the error at the i-th coordinate point in the rectangular region using the following formula. :

[0021] ;

[0022] In the formula, It is the theoretical distance from the i-th coordinate point to the first base station; It is the theoretical distance from the i-th coordinate point to the second base station;

[0023] Traverse all coordinate points and calculate the error. The smallest coordinate point (x, y) is determined as the actual position of the tag; the second MCU main control module drives the display module to display the coordinate point (x, y), and at the same time sends the coordinate point (x, y) to the wireless transmission module;

[0024] (4) Each time time elapses Repeat step (3) to update the coordinates (x, y) of the label in the rectangular area.

[0025] In step (2), the second MCU main control module calculates the theoretical distances from all coordinate points in the rectangular area to the first base station and the second base station, specifically including the following steps:

[0026] (2a) For a coordinate point on a side of a rectangle: Construct triangle ABC, where A is the first base station, B and C are two vertices of one side of the rectangle, and D is a coordinate point on the side BC. The distance between BC and D is the length or width of the rectangle. AB and AC are the vertex distances recorded in step (2). Assuming that the coordinate B in the BC direction is the starting point with coordinate 0, and the coordinate position of point D is i, then the distance... ;

[0027] According to the Law of Cosines of a Triangle, the formula for calculating the length of AD is:

[0028] ;

[0029] The AD value calculated using the above formula is the theoretical distance from coordinate point D to the first base station;

[0030] Let A be the second base station, construct triangle ABC, and obtain the theoretical distance from coordinate point D to the second base station; based on this, select B and C as two vertices of the other sides, and calculate the theoretical distances from all coordinate points on the four sides of the rectangle to the first and second base stations;

[0031] (2b) For coordinate points within the rectangular area: any point E is determined as the intersection of a pair of horizontal and vertical line segments; let the horizontal line segment be PQ and the vertical line segment be P'Q'. The endpoints P, Q, P', and Q' are on the side of the rectangle. The distance of PQ is the length of the rectangle, and the distance of P'Q' is the width of the rectangle. Treat PQ as BC in step (2a), and the distance from the coordinate point of the tag to the base station can be calculated according to step (2a), denoted as d1.

[0032] Similarly, P'Q' is chosen as BC in step (2a), and a distance is calculated and denoted as d2. The theoretical distance from point E to the base station is the average of the sum of d1 and d2.

[0033] As can be seen from the above technical solution, the beneficial effects of the present invention are as follows: First, it has high deployment flexibility and adapts to complex scenarios: only two base stations are needed to achieve planar positioning, without the need to deploy multiple positioning nodes. Moreover, the base stations can be placed arbitrarily outside the positioning site without strictly limiting the installation orientation, and are not restricted by complex environmental factors such as obstacles around the site, which greatly enhances the deployment possibility of the device in complex scenarios. Second, it has low hardware cost and is easy to operate: compared with the multi-base station positioning scheme, the present invention reduces the number of base stations deployed, reducing hardware procurement and installation costs. The base station fixing process is simple, without complicated debugging, and ordinary users can quickly complete the deployment, significantly reducing the threshold for use and adapting to the needs of rapid application. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the planar positioning device in this invention;

[0035] Figure 2 This is a schematic diagram illustrating the calculation of the distance from the coordinate point to the base station in this invention;

[0036] Figure 3 This is a circuit block diagram of the base station and the tag in this invention. Detailed Implementation

[0037] like Figure 1 As shown, a planar positioning device includes a tag 2 and two identical base stations; the two base stations include a first base station 1 and a second base station; the first base station 1 includes:

[0038] The first power supply module is used to supply power to the first MCU main control module and the first ranging module;

[0039] The first MCU main control module uses an STM32F103C8T6 chip to control the first ranging module to measure the distance between tag 2 and the first base station 1;

[0040] The first ranging module uses a UWB module to measure the distance between tag 2 and the first base station 1;

[0041] The label 2 includes:

[0042] The second power supply module is used to supply power to the second MCU main control module, the second ranging module, the wireless transmission module and the display module;

[0043] The second MCU main control module uses an STM32F103C8T6 chip to control the second ranging module to measure the distance between tag 2 and the first base station 1 and the second base station;

[0044] The second ranging module uses a UWB module to measure the distance between tag 2 and the first base station 1 and the second base station;

[0045] The wireless transmission module uses a wireless-to-serial communication module to receive the coordinate data of tag 2 output by the second MCU main control module at 115200bps, thereby realizing communication between tag 2 and the backend server.

[0046] The display module uses an OLED screen to display the position coordinates of label 2.

[0047] like Figure 3 As shown, the first MCU main control module communicates bidirectionally with the first ranging module, the second MCU main control module communicates bidirectionally with the second ranging module, the output terminal of the second MCU main control module is connected to the input terminals of the wireless transmission module and the display module respectively, and the first ranging module and the second ranging module communicate bidirectionally.

[0048] The first and second power supply modules receive a 7-12V DC voltage input, and after regulation, output 5V and 3.3V to provide operating voltages for other modules. The second MCU main control module also stores the length and width information of the rectangular area, calculates its own position coordinates, and outputs the coordinates to the display module and the wireless transmission module.

[0049] This method includes the following steps in sequence:

[0050] (1) Set the working area: The working area is a planar area and is rectangular. The rectangle is divided into coordinate points by an interval distance d, and the minimum unit of d is 10cm. The interval distance d and the length and width information of the rectangle are saved and recorded in the second MCU main control module. The first base station 1 and the second base station are placed outside the rectangular area and fixed after placement.

[0051] (2) Tag 2 positioning initialization: Place tag 2 at the four vertices of the rectangular area in sequence. At each placement, the second MCU main control module records the two distance values ​​between tag 2 and the first base station 1 and the second base station obtained by the second ranging module, and stores them. After recording the distance information of the four vertices, the second MCU main control module calculates the theoretical distance from all coordinate points on the rectangular area to the first base station 1 and the second base station.

[0052] (3) Real-time positioning mode: Tag 2 moves arbitrarily within the rectangular area, and the second MCU main control module controls the second ranging module to measure the distance between tag 2 and the first base station 1. The second MCU main control module controls the second ranging module to measure the distance between tag 2 and the second base station. Calculate the error at the i-th coordinate point in the rectangular region using the following formula. :

[0053] ;

[0054] In the formula, It is the theoretical distance from the i-th coordinate point to the first base station 1; It is the theoretical distance from the i-th coordinate point to the second base station;

[0055] Traverse all coordinate points and calculate the error. The smallest coordinate point (x, y) is determined as the actual position of tag 2; the second MCU main control module drives the display module to display the coordinate point (x, y), and at the same time sends the coordinate point (x, y) to the wireless transmission module;

[0056] (4) Each time time elapses Repeat step (3) to update the coordinates (x, y) of label 2 in the rectangular area.

[0057] In step (2), the second MCU main control module calculates the theoretical distances from all coordinate points on the rectangular area to the first base station 1 and the second base station, specifically including the following steps:

[0058] like Figure 2As shown in (2a), for a coordinate point on a side of a rectangle: construct triangle ABC, where A is the first base station 1, B and C are two vertices of one side of the rectangle, and a coordinate point on the side BC is D. The distance between BC and D is the length or width of the rectangle; AB and AC belong to the vertex distances recorded in step (2); assuming that the coordinate B in the BC direction is the starting point with coordinate 0, and the coordinate position of point D is i, then the distance ;

[0059] According to the Law of Cosines of a Triangle, the formula for calculating the length of AD is:

[0060] ;

[0061] The AD value calculated using the above formula is the theoretical distance from coordinate point D to the first base station 1.

[0062] Let A be the second base station, construct triangle ABC, and obtain the theoretical distance from coordinate point D to the second base station; based on this, select B and C as two vertices of the other sides, and calculate the theoretical distances from all coordinate points on the four sides of the rectangle to the first base station 1 and the second base station.

[0063] (2b) For coordinate points within the rectangular area: any point E is determined as the intersection of a pair of horizontal and vertical line segments; let the horizontal line segment be PQ and the vertical line segment be P'Q'. The endpoints P, Q, P', and Q' are on the side of the rectangle. The distance of PQ is the length of the rectangle, and the distance of P'Q' is the width of the rectangle. Treat PQ as BC in step (2a), and the distance from the coordinate point of tag 2 to the base station can be calculated according to step (2a), denoted as d1.

[0064] Similarly, P'Q' is chosen as BC in step (2a), and a distance is calculated and denoted as d2. The theoretical distance from point E to the base station is the average of the sum of d1 and d2.

[0065] In summary, this invention offers high deployment flexibility and adaptability to complex scenarios: only two base stations are needed for planar positioning, eliminating the need for multiple positioning nodes. Furthermore, the base stations can be placed anywhere outside the positioning site without strict installation orientation restrictions, and are not limited by surrounding obstacles or other complex environmental factors, significantly enhancing the device's deployment capabilities in complex environments. It also boasts low hardware costs and ease of operation: compared to multi-base station positioning schemes, this invention reduces the number of base stations required, lowering hardware procurement and installation costs. The base station fixing process is simple, requiring no complex debugging, allowing ordinary users to quickly complete deployment, significantly reducing the barrier to entry and adapting to rapid application needs.

[0066] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A planar positioning device, characterized in that: It includes a tag and two structurally identical base stations; the two base stations include a first base station and a second base station; the first base station includes: The first power supply module is used to supply power to the first MCU main control module and the first ranging module; The first MCU main control module uses an STM32F103C8T6 chip to control the first ranging module to measure the distance between the tag and the first base station. The first ranging module uses a UWB module to measure the distance between the tag and the first base station; The labels include: The second power supply module is used to supply power to the second MCU main control module, the second ranging module, the wireless transmission module and the display module; The second MCU main control module uses an STM32F103C8T6 chip to control the second ranging module to measure the distance between the tag and the first base station and the second base station. The second ranging module uses a UWB module to measure the distance between the tag and the first and second base stations. The wireless transmission module uses a wireless-to-serial communication module to receive the coordinate data of the tag output by the second MCU main control module at 115200bps, thereby realizing communication between the tag and the back-end server. The display module uses an OLED screen to display the position coordinates of the label.

2. The planar positioning device according to claim 1, characterized in that: The first MCU main control module communicates bidirectionally with the first ranging module, the second MCU main control module communicates bidirectionally with the second ranging module, the output terminal of the second MCU main control module is connected to the input terminal of the wireless transmission module and the display module respectively, and the first ranging module and the second ranging module communicate bidirectionally.

3. The positioning method of the planar positioning device according to any one of claims 1 to 2, characterized in that: The method includes the following steps in sequence: (1) Set the working area: The working area is a planar area and is rectangular. The rectangle is divided into coordinate points by an interval distance d, and the minimum unit of d is 10cm. The interval distance d and the length and width information of the rectangle are saved and recorded in the second MCU main control module. The first base station and the second base station are placed outside the rectangular area and fixed after placement. (2) Tag positioning initialization: Place the tag at the four vertices of the rectangular area in sequence. At each vertices, the second MCU main control module records the two distance values ​​between the tag and the first base station and the second base station obtained by the second ranging module and stores them. After recording the distance information of the four vertices, the second MCU main control module calculates the theoretical distance from all coordinate points on the rectangular area to the first base station and the second base station. (3) Real-time positioning mode: The tag can move arbitrarily within the rectangular area, and the second MCU main control module controls the second ranging module to measure the distance between the tag and the first base station. The second MCU main control module controls the second ranging module to measure the distance between the tag and the second base station. ; Calculate the error at the i-th coordinate point in the rectangular region using the following formula. : ； In the formula, It is the theoretical distance from the i-th coordinate point to the first base station; It is the theoretical distance from the i-th coordinate point to the second base station; Traverse all coordinate points and calculate the error. The smallest coordinate point (x, y) is determined as the actual position of the tag; the second MCU main control module drives the display module to display the coordinate point (x, y), and at the same time sends the coordinate point (x, y) to the wireless transmission module; (4) Each time time elapses Repeat step (3) to update the coordinates (x, y) of the label in the rectangular area.

4. The positioning method according to claim 3, characterized in that: In step (2), the second MCU main control module calculates the theoretical distances from all coordinate points in the rectangular area to the first base station and the second base station, specifically including the following steps: (2a) For a coordinate point on a side of a rectangle: Construct triangle ABC, where A is the first base station, B and C are two vertices of one side of the rectangle, and D is a coordinate point on the side BC. The distance between BC and D is the length or width of the rectangle. AB and AC are the vertex distances recorded in step (2). Assuming that the coordinate B in the BC direction is the starting point with coordinate 0, and the coordinate position of point D is i, then the distance... ; According to the Law of Cosines of a Triangle, the formula for calculating the length of AD is: ； The AD value calculated using the above formula is the theoretical distance from coordinate point D to the first base station; Let A be the second base station, construct triangle ABC, and obtain the theoretical distance from coordinate point D to the second base station; based on this, select B and C as two vertices of the other sides, and calculate the theoretical distances from all coordinate points on the four sides of the rectangle to the first and second base stations; (2b) For coordinate points within the rectangular area: any point E is determined as the intersection of a pair of horizontal and vertical line segments; let the horizontal line segment be PQ and the vertical line segment be P'Q'. The endpoints P, Q, P', and Q' are on the side of the rectangle. The distance of PQ is the length of the rectangle, and the distance of P'Q' is the width of the rectangle. Treat PQ as BC in step (2a), and the distance from the coordinate point of the tag to the base station can be calculated according to step (2a), denoted as d1. Similarly, P'Q' is chosen as BC in step (2a), and a distance is calculated and denoted as d2. The theoretical distance from point E to the base station is the average of the sum of d1 and d2.

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