A fast self-calibration method and system for a UWB base station of a large amusement facility

Abstract

The application discloses a UWB base station rapid self-calibration method and system for large amusement facilities, and belongs to the technical field of special equipment. The method comprises the following steps: acquiring a base station distance set; establishing a distance constraint equation set according to adjacent base station distances and diagonal base station distances; the distance constraint equation set has an error constraint; the error constraint is used for representing that two diagonal base station distances have the same error distribution; solving the distance constraint equation set to obtain a non-line-of-sight error value, and correcting the diagonal base station distances according to the non-line-of-sight error value to obtain corrected diagonal base station distances; and determining the coordinates of four base stations according to the adjacent base station distances and the corrected diagonal base station distances. The above scheme can realize rapid self-calibration of the base station, reduce the influence of the non-line-of-sight error on the solving result of the base station coordinates, and ensure the self-calibration accuracy and self-calibration efficiency.

Description

Technical Field

[0001] This application relates to the field of special equipment technology, and in particular to a method and system for rapid self-calibration of UWB base stations for large amusement facilities. Background Technology

[0002] The motion structure of large amusement rides (such as swing rides) is complex and irregular, and key motion parameters such as cabin speed, turning radius, and operating height are difficult to measure directly by conventional means, such as maximum speed.

[0003] Currently, for measuring such irregular motion trajectories, a local area network positioning method can be used, such as UWB technology, by setting up base stations on-site. However, in this method, the coordinates of the base stations must be determined first. If the base station coordinates are manually confirmed, the measurement efficiency will be low. If the base station coordinates are automatically measured by radio signals between the base stations, the distance values ​​between some base stations will deviate significantly from the true values ​​due to the serious non-line-of-sight errors caused by radio signals passing through or diffracting metal structures, resulting in low accuracy of base station location calibration. Summary of the Invention

[0004] Therefore, it is necessary to provide a rapid self-calibration method and system for UWB base stations of large amusement facilities to address the above problems, thereby improving the calibration accuracy of rapid self-calibration of base stations.

[0005] On the one hand, this application provides a rapid self-calibration method for UWB base stations for large amusement facilities. The method is applied to a rapid self-calibration system for UWB base stations. The system includes four base stations, which are connected sequentially in a horizontal projection plane to form a quadrilateral positioning area. The projection of the large amusement facility in the horizontal projection plane is located within the quadrilateral positioning area. The method includes: Obtain a set of base station distances; the set of base station distances includes distance information between any two base stations obtained through UWB ranging, the distance information includes the distance between adjacent base stations and the distance between diagonal base stations; the distance between adjacent base stations is the distance between two base stations that are directionally adjacent; the distance between diagonal base stations is the distance between two base stations that are not directionally adjacent; A set of distance constraint equations is established based on the distances between adjacent base stations and the distances between diagonal base stations; the set of distance constraint equations has error constraints; the error constraints are used to characterize that the distances between two diagonal base stations have the same error distribution. Solve the distance constraint equations to obtain the non-line-of-sight error value, and correct the diagonal base station distance based on the non-line-of-sight error value to obtain the corrected diagonal base station distance; The coordinates of the four base stations are determined based on the distances between adjacent base stations and the corrected distances between diagonal base stations.

[0006] On another front, a rapid self-calibration device for UWB base stations for large amusement rides is provided. The device is installed in a rapid self-calibration system for UWB base stations. The system includes four base stations, which are connected sequentially in a horizontal projection plane to form a quadrilateral positioning area. The projection of the large amusement ride in the horizontal projection plane is located within the quadrilateral positioning area. The device includes: A distance measurement module is used to acquire a set of base station distances; the set of base station distances includes distance information between any two base stations obtained by UWB ranging, and the distance information includes the distance between adjacent base stations and the distance between diagonal base stations; the distance between adjacent base stations is the distance between two base stations that are directionally adjacent; the distance between diagonal base stations is the distance between two base stations that are not directionally adjacent. A constraint construction module is used to establish a set of distance constraint equations based on the distances between adjacent base stations and the distances between diagonal base stations; the set of distance constraint equations has error constraints; the error constraints are used to characterize that the distances between two diagonal base stations have the same error distribution. The distance correction module is used to solve the distance constraint equations to obtain the non-line-of-sight error value, and to correct the diagonal base station distance based on the non-line-of-sight error value to obtain the corrected diagonal base station distance. The coordinate determination module is used to determine the coordinates of the four base stations based on the distances between adjacent base stations and the corrected distances between diagonal base stations.

[0007] On the other hand, a rapid self-calibration system for UWB base stations for large amusement rides is provided. The system includes four base stations, which are connected in order of orientation in a horizontal projection plane to form a quadrilateral positioning area. The projection of the large amusement ride in the horizontal projection plane is located within the quadrilateral positioning area. The system also includes an electronic device, which includes a memory and a processor. The memory and the processor are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the aforementioned rapid self-calibration method for UWB base stations for large amusement facilities.

[0008] In another aspect, a computer-readable storage medium is provided, on which computer instructions are stored, the computer instructions being used to cause a computer to execute the above-described method for rapid self-calibration of UWB base stations for large amusement facilities.

[0009] Compared with the prior art, the technical solution provided in this application has the following advantages: This application first deploys four base stations around a large amusement ride, connecting them sequentially in a horizontal projection plane to form a quadrilateral positioning area, with the projection of the large amusement ride located within this quadrilateral positioning area. In this case, the four base stations do not need to be precisely installed according to a fixed radius, fixed angle, or strict circumferential position; they only need to be arranged in an approximate rhombus shape around the large amusement ride on-site. Subsequently, the distance information between any two base stations can be quickly obtained through UWB ranging. Furthermore, this application distinguishes between the distance between adjacent base stations and the distance between diagonal base stations, and establishes a set of distance constraint equations with error constraints based on the distances between adjacent and diagonal base stations. This error constraint characterizes that the distances between two diagonal base stations have the same error distribution. Therefore, for diagonal ranging errors caused by the metal structure of the large amusement ride obstructing, reflecting, or diffracting, the non-line-of-sight error value can be obtained by solving the set of distance constraint equations, and this non-line-of-sight error value can be used to correct the diagonal base station distance. Finally, the coordinates of the four base stations are determined based on the distances between adjacent base stations and the corrected distances between diagonal base stations, thereby reducing the workload of manually measuring base station coordinates. This enables rapid self-calibration of base stations while reducing the impact of non-line-of-sight errors on the base station coordinate solution results, and simultaneously ensuring the accuracy and efficiency of self-calibration. Attached Figure Description

[0010] Figure 1 A schematic diagram is shown of a large amusement ride being measured using a UWB base station rapid self-calibration system; Figure 2 A flowchart illustrating a communication network fault detection method based on dynamic routing according to an embodiment of this application is shown. Figure 3 A reference schematic diagram of a non-line-of-sight path according to an embodiment of this application is shown; Figure 4 A flowchart illustrating a rapid self-calibration method for UWB base stations of large amusement facilities provided in an embodiment of this application is shown. Figure 5 A schematic diagram of a measurement polar coordinate system according to an embodiment of this application is shown; Figure 6 This paper shows a structural block diagram of a UWB base station rapid self-calibration device for large amusement facilities, as illustrated in an embodiment of this application. Figure 7 This is a schematic diagram of the structure of an electronic device provided in an optional embodiment of this application. Detailed Implementation

[0011] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0012] The motion structure of large amusement rides (such as swing rides) is complex and irregular, making it difficult to directly measure key motion parameters such as cabin speed, rotation radius, and operating height using conventional methods. For example, the current main testing method for maximum speed is using ultrasonic velocimeters to capture it. However, due to the high operating height and irregular cabin trajectory, handheld ultrasonic velocimeters struggle to quickly capture the maximum speed point. Similarly, measuring operating height currently involves using laser rangefinders to measure vertically upwards from the ground. However, since laser rangefinders can only measure a single point of height, this method is extremely inefficient because it's difficult to determine the exact location of the highest point. Given these difficulties, current verification of these parameters by inspection agencies mostly relies on checking the manufacturer's provided data. To ensure safe operation of the equipment, inspection agencies urgently need a new method for on-site measurement and verification of these parameters.

[0013] Currently, another detection method for measuring such irregular motion trajectories is to use Real-Time Kinematic (RTK) technology, such as GPS, Wi-Fi, and UWB. However, considering that GPS positioning technology relies on satellite signals, its accuracy is very limited; the positioning error of civilian GPS is often on the order of meters, which is clearly insufficient to meet the requirements of the intended use case. Another method is to deploy base stations on-site to form a local area network, such as UWB technology. By using UWB base stations at known locations, the real-time position of tags placed on large amusement rides can be measured, thereby achieving the purpose of measuring the speed and position of the large amusement rides.

[0014] However, each time measurements are taken on different large amusement facilities, base stations need to be set up on-site. There are two problems that must be solved at this time. First, the coordinates of the base stations need to be determined. If they are pre-calibrated manually, it will consume a lot of time and manpower to accurately measure the coordinates. In addition, the coordinates of the base stations need to be manually entered into the corresponding measurement system of the base stations, which is very inefficient. Second, if the distance between the base stations is measured by radio signals, the radio signals between the base stations will produce serious non-line-of-sight errors when passing through or diffracting metal structures, causing the distance values ​​between some base stations to deviate significantly from the true values.

[0015] To address the aforementioned issues, this application provides a rapid self-calibration method for UWB base stations of large amusement rides. This method is applied to a rapid self-calibration system for UWB base stations. The system includes four base stations, which are sequentially connected in a horizontal projection plane to form a quadrilateral positioning area. The projection of the large amusement ride in the horizontal projection plane is located within the quadrilateral positioning area.

[0016] Figure 1 A schematic diagram illustrates the use of a UWB base station rapid self-calibration system to measure large amusement rides. (For example...) Figure 1 As shown in the embodiment of this application, four UWB base stations B1 to B4 are provided. These four UWB base stations are located around the large amusement ride, and can be positioned approximately in a circle by surveyors. This allows the quadrilateral positioning area formed by connecting the four UWB base stations B1 to B4 in directional order to cover the large amusement ride. In other words, UWB base stations are present around the large amusement ride, thus enabling the measurement of the ride's parameters by locating the UWB tags on the ride using these surrounding base stations.

[0017] Figure 2 This application provides a flowchart illustrating a fast self-calibration method for UWB base stations in large amusement facilities, according to an embodiment of this application. Figure 2 As shown in the figure, the process of the rapid self-calibration method for UWB base stations of large amusement facilities provided in this application embodiment includes the following steps: Step 201: Obtain the base station distance set.

[0018] The base station distance set includes distance information obtained by UWB ranging between any two base stations. The distance information includes the distance between adjacent base stations and the distance between diagonal base stations. The distance between adjacent base stations is the distance between two base stations that are directionally adjacent. The distance between diagonal base stations is the distance between two base stations that are not directionally adjacent.

[0019] In this embodiment, the UWB base station rapid self-calibration system includes four base stations. These four base stations can be deployed in the peripheral area of ​​a large amusement ride. When connected sequentially in a horizontal projection plane, they form a quadrilateral positioning area resembling a rhombus. The projection of the large amusement ride onto the horizontal projection plane lies within this quadrilateral positioning area. In other words, the four base stations can be deployed around the large amusement ride, ensuring that the ride is within the positioning range formed by the four base stations.

[0020] After the four base stations are deployed, the computer equipment can control the UWB ranging between each base station, or obtain the UWB ranging results pre-measured by each base station, thereby obtaining a set of base station distances. For the four base stations, any two base stations can form a base station distance, so the set of base station distances can include distance information between multiple base stations.

[0021] In this embodiment, the distance information in the base station distance set can be divided into adjacent base station distances and diagonal base station distances based on the azimuth order of the four base stations in the horizontal projection plane. Adjacent base station distances refer to the distance between two base stations that are azimuthally adjacent; diagonal base station distances refer to the distance between two base stations that are not azimuthally adjacent. Since large amusement rides are typically located within a quadrilateral positioning area formed by the four base stations, the ranging links between diagonal base stations are more likely to traverse or diffract around the main structure of the large amusement ride compared to the ranging links between adjacent base stations. Therefore, they are more susceptible to obstruction, reflection, or diffraction from the metal structures within the large amusement ride.

[0022] Step 202: Establish a set of distance constraint equations based on the distances between adjacent base stations and the distances between the diagonal base stations.

[0023] The distance constraint equations have error constraints; the error constraints are used to characterize that the distances between two diagonal base stations have the same error distribution.

[0024] In this embodiment, after obtaining the set of base station distances, the computer device can establish a set of distance constraint equations to describe the geometric distance relationship between the four base stations based on the distances between adjacent base stations and the distances between diagonal base stations. This set of distance constraint equations can be used to characterize the geometric constraints that the distance relationship between the four base stations should satisfy in the quadrilateral structure formed by the four base stations in the horizontal projection plane.

[0025] In on-site measurement scenarios for large amusement rides, the complex structures of these rides, including metal supports, rotating mechanisms, and cabin connection structures, can cause UWB signals to be affected by obstruction, reflection, or diffraction when propagating between base stations. This is especially true for ranging links between two non-adjacent base stations, which are more likely to traverse the main area of ​​the large amusement ride, potentially resulting in significant non-line-of-sight errors in the corresponding diagonal base station distances. Figure 3 A reference schematic diagram of a non-line-of-sight path according to an embodiment of this application is shown.

[0026] Based on this, in establishing the distance constraint equations, this application does not directly treat the distances between the two diagonal base stations as error-free true distances. Instead, it introduces error constraints into the distance constraint equations. These error constraints characterize that the distances between the two diagonal base stations have the same error distribution. In other words, it can be assumed that the distances between the two diagonal base stations are both affected by the main structure of the large amusement facility, and that their corresponding non-line-of-sight errors can be characterized by the same error parameter. This allows the non-line-of-sight error to be solved subsequently using the distance constraint equations.

[0027] Step 203: Solve the distance constraint equations to obtain the non-line-of-sight error value, and correct the diagonal base station distance based on the non-line-of-sight error value to obtain the corrected diagonal base station distance.

[0028] In this embodiment, after establishing a set of distance constraint equations with error constraints, the computer device can solve the set of distance constraint equations to obtain a non-line-of-sight error value. This non-line-of-sight error value is used to characterize the ranging deviation introduced by large amusement facilities' obstruction, reflection, or diffraction in the distance between diagonal base stations.

[0029] Furthermore, after obtaining the non-line-of-sight error value, the computer device can correct the diagonal base station distances in the base station distance set based on the non-line-of-sight error value to obtain the corrected diagonal base station distances. In other words, the embodiments of this application do not directly use the original diagonal base station distances obtained by UWB ranging to determine the base station coordinates, but first use the distance constraint equations to solve for the non-line-of-sight error in the diagonal base station distances, and then use the non-line-of-sight error to compensate and correct the diagonal base station distances.

[0030] By employing the above methods, the impact of the metal structure of large amusement facilities on the distance measurement results of diagonal base stations can be reduced, making the corrected diagonal base station distances more suitable for subsequent base station coordinate calculations. This avoids the overall offset of the self-calibration coordinates of the four base stations due to large non-line-of-sight errors in the diagonal base station distances, thus improving the stability of the rapid self-calibration process of UWB base stations.

[0031] Step 204: Determine the coordinates of the four base stations based on the distances between adjacent base stations and the corrected diagonal base station distances.

[0032] In this embodiment, after obtaining the distances between adjacent base stations and the corrected diagonal base station distances, the computer device can determine the relative positional relationship between the four base stations based on the aforementioned distance information, and further determine the coordinates of the four base stations. Optionally, the computer device can use any one of the four base stations as a coordinate reference point and establish a base station coordinate system based on the distance relationship between the base stations, thereby determining the coordinates of the four base stations under this base station coordinate system.

[0033] In other words, in this embodiment, the precise coordinates of each of the four base stations do not need to be manually measured before deployment. Instead, the relative coordinates between the four base stations can be automatically determined using the UWB ranging results between the base stations and the error correction results for the distance between diagonal base stations. Since this coordinate determination process uses the distance between adjacent base stations and the distance between diagonal base stations after non-line-of-sight error correction, it can improve the accuracy of the base station coordinate solution in scenarios where there is interference from metal structures in large amusement facilities.

[0034] In summary, this application first deploys four base stations around a large amusement ride, connecting them sequentially in a horizontal projection plane to form a quadrilateral positioning area, with the projection of the large amusement ride located within this quadrilateral positioning area. In this case, the four base stations do not need to be precisely installed according to a fixed radius, fixed angle, or strict circumferential position; they only need to be arranged in an approximate rhombus shape around the large amusement ride on-site. Subsequently, the distance information between any two base stations can be quickly obtained through UWB ranging. Furthermore, this application distinguishes between the distance between adjacent base stations and the distance between diagonal base stations, and establishes a set of distance constraint equations with error constraints based on the distances between adjacent and diagonal base stations. This error constraint characterizes that the distances between two diagonal base stations have the same error distribution. Therefore, for diagonal ranging errors caused by the metal structure of the large amusement ride obstructing, reflecting, or diffracting, the non-line-of-sight error value can be obtained by solving the distance constraint equations, and this non-line-of-sight error value can be used to correct the diagonal base station distance. Finally, the coordinates of the four base stations are determined based on the distances between adjacent base stations and the corrected distances between diagonal base stations, thereby reducing the workload of manually measuring base station coordinates. This enables rapid self-calibration of base stations while reducing the impact of non-line-of-sight errors on the base station coordinate solution results, and simultaneously ensuring the accuracy and efficiency of self-calibration.

[0035] Figure 4 This illustration shows a flowchart of a rapid self-calibration method for UWB base stations in large amusement facilities according to an embodiment of this application. Figure 4 As shown, the method includes: Step 401: For any base station, obtain the one-way measurement distance between the base station and other base stations; the one-way measurement distance is the distance measured by the base station when the UWB tag is placed at other base stations.

[0036] In this embodiment, the UWB base station rapid self-calibration system includes four base stations. After the four base stations are deployed, the computer equipment can sequentially obtain the measured distance between each base station and other base stations. For any given base station, it can be used as a ranging base station, and a UWB tag can be placed at the location of other base stations. The UWB tag can then be measured using this base station to obtain the one-way measured distance between the base station and other base stations.

[0037] For example, for the first base station and the second base station, a UWB tag can be placed at the second base station, and the distance to the UWB tag can be measured by the first base station to obtain the one-way distance from the first base station to the second base station. Similarly, a UWB tag can be placed at the first base station, and the distance to the UWB tag can be measured by the second base station to obtain the one-way distance from the second base station to the first base station. In other words, for each pair of base stations, the one-way distances in both directions can be obtained separately.

[0038] Optionally, the one-way measurement distance is the average of the distances measured multiple times through other base stations when the UWB tag is placed at those base stations. In other words, when measuring the one-way distance in a certain direction, the computer equipment can control the corresponding base station to perform multiple UWB ranging measurements on the UWB tag, obtaining multiple single measurement distances. Then, the average of these multiple single measurement distances is calculated, and the result of this average is used as the one-way measurement distance in that direction.

[0039] In another alternative implementation, each base station in this application embodiment is equipped with a unique UWB tag. For example, the first base station to the fourth base station are respectively equipped with a first tag and a fourth tag. In this case, each base station can quickly obtain the one-way measurement distance by using the tags set on other base stations.

[0040] In practical applications, four UWB base stations are evenly deployed in an approximately circular pattern on the same plane around the large amusement ride being tested, and are denoted as follows: B 1. B 2. B 3. B 4. UWB tags are used as the units under test and are placed sequentially at each base station. The raw distances between each pair of base stations are indirectly obtained by measuring the distances between the tags at each base station. For each set of one-way distances, N samples are taken and the average is calculated to obtain a filtered distance value. For example, the tag is placed at... B 1 base station, by B Average distance measured by 4 base stations l’ 14. Under ideal conditions (without line-of-sight error), the measured distance is: l 14; Place the label B 4 base stations, by B Average distance measured by 1 base station l’ 41. The ideal distance (without line-of-sight error) is: l 41.

[0041] Step 402: Perform bidirectional averaging on the two unidirectional measured distances of each pair of base stations to obtain the base station distance set.

[0042] In this embodiment, for any two base stations, the unidirectional measurement distances between them can correspond to two directions. Since UWB ranging may be affected by factors such as differences in base station hardware, tag placement errors, environmental reflections, and instantaneous ranging fluctuations, the unidirectional measurement distances in the two directions may not be completely consistent. Therefore, in this embodiment, the two unidirectional measurement distances of each pair of base stations can be bidirectionally averaged to obtain the distance information between the pair of base stations.

[0043] Specifically, for each pair of base stations, the computer equipment can acquire the one-way measured distance in the first direction and the one-way measured distance in the second direction. Then, based on the average of the two one-way measured distances, the distance information between the pair of base stations is determined. By averaging the one-way measured distances in the two directions, the random errors caused by the one-way measurement process can be offset to some extent, allowing the obtained set of base station distances to more accurately represent the distance relationships between the various base stations.

[0044] In this embodiment, the base station distance set includes distance information between any two base stations. For four base stations, the base station distance set may include the adjacent base station distance between two directionally adjacent base stations, and the diagonal base station distance between two non-directionally adjacent base stations. The adjacent base station distance characterizes the side length of the quadrilateral positioning region formed by the four base stations connected sequentially, and the diagonal base station distance characterizes the distance between two sets of diagonal base stations within the quadrilateral positioning region.

[0045] In practical applications, the two unidirectional average distances between each pair of base stations are then averaged bidirectionally to obtain a more accurate estimate of the relative distance between the base stations. Using this method, a total of six estimated distances are obtained: L’ 12. L’ 13. L’ 14. L’ twenty three, L’ twenty four, L’ 34. This process effectively suppresses random errors through double mean filtering. That is: L’ 12 = ( l’ 12+ l’ 21) / 2 L’ 13 = ( l’ 13+ l’ 31) / 2 ... L’ 34 = ( l’ 43+ l’ 34) / 2 Step 403: Establish a set of distance constraint equations based on the distance between the adjacent base stations and the distance between the diagonal base stations.

[0046] The distance constraint equations have an error constraint; this error constraint is used to characterize that the distances between two diagonal base stations have the same error distribution.

[0047] In this embodiment, after obtaining the set of base station distances, the computer device can sequentially identify the four base stations as a first base station, a second base station, a third base station, and a fourth base station based on their directional order in the horizontal projection plane. Correspondingly, the distance between adjacent base stations between the first and second base stations can be defined as a first adjacent distance, the distance between adjacent base stations between the second and third base stations as a second adjacent distance, the distance between adjacent base stations between the third and fourth base stations as a third adjacent distance, and the distance between adjacent base stations between the fourth and first base stations as a fourth adjacent distance. Furthermore, the diagonal distance between the first and third base stations can be defined as a first diagonal distance, and the diagonal distance between the second and fourth base stations as a second diagonal distance.

[0048] In on-site measurement scenarios for large amusement rides, these rides are typically located within a quadrilateral positioning area formed by four base stations. Furthermore, these rides often contain structural components such as metal supports, rotating mechanisms, and cabin connection structures. Therefore, the UWB ranging link between two non-adjacent base stations is more likely to traverse or diffract around the main structure of the large amusement ride, introducing non-line-of-sight errors into the distance between diagonal base stations. In contrast, the ranging link between two adjacent base stations is usually located on the edge of the quadrilateral positioning area, making it less likely to be obstructed by the main structure of the large amusement ride. Therefore, the distance between adjacent base stations can be used as the known distance when establishing the distance constraint equations.

[0049] Furthermore, in the embodiments of this application, the measurement error during the measurement process... Its main components are random errors Non-line-of-sight error Composition. Among them, random error. Generally, it follows a Gaussian distribution, and the Gaussian distribution error can be used. Characterization; rather than line-of-sight error If it follows an exponential distribution, the exponential distribution error can be used. Characterization. The Gaussian distribution represents small-amplitude, symmetrical errors in the system caused by factors such as noise and multipath propagation, while the exponential distribution represents significant positive deviations caused by obstacles blocking the signal.

[0050] Its mathematical expression is:

[0051] in, The error is random and follows a Gaussian distribution. This is a non-line-of-sight error, which follows an exponential distribution. The error is a Gaussian distribution. This represents the error of the exponential distribution.

[0052] Assumption , If they are mutually independent, then they have Expectations , variance for:

[0053] If the mean of the measurement is filtered, then:

[0054] in The mean of a Gaussian distribution; It is the mean of the exponential distribution; Let be the variance of the Gaussian distribution; Let be the variance of the exponential distribution.

[0055] Therefore, mean filtering can significantly reduce the variance of non-line-of-sight errors, but has no effect on the mean. Based on this, by assuming that the non-line-of-sight errors in all directions follow the same distribution, then when... When the value is large, the variance can be considered to be approximately 0. In this case, the algorithm principle proposed in this invention can be used to make a more accurate estimate.

[0056] Specifically, when establishing the distance constraint equations, the first adjacent distance, the second adjacent distance, the third adjacent distance, and the fourth adjacent distance can be used as known distances. The non-line-of-sight errors corresponding to the first diagonal distance and the second diagonal distance are set as the same error variable to be solved. The first angle variable, the second angle variable, and the error variable to be solved are used as unknowns to establish the distance constraint equations. The first angle variable is used to characterize the angle between the direction from the first base station to the second base station and the direction from the first base station to the third base station, and the second angle variable is used to characterize the angle between the direction from the first base station to the second base station and the direction from the first base station to the fourth base station.

[0057] In other words, in this embodiment, the first and second diagonal distances are not directly used as error-free distances. Instead, it is assumed that both sets of diagonal base station distances may be affected by the main structure of the large amusement facility, and the corresponding non-line-of-sight errors can be characterized by the same error variable to be solved. In this way, a constraint condition for uniform error correction of the diagonal base station distances can be introduced into the distance constraint equations.

[0058] Furthermore, the distance constraint equation system may include a first distance constraint, a second distance constraint, and a third distance constraint; the first, second, and third distance constraints are established based on the cosine theorem. Specifically, the first distance constraint is used to constrain the second adjacent distance based on the sum of the first adjacent distance, the first diagonal distance, and the error variable to be solved, as well as the first angle variable; the second distance constraint is used to constrain the sum of the second diagonal distance and the error variable to be solved based on the first adjacent distance, the fourth adjacent distance, and the second angle variable; and the third distance constraint is used to constrain the third adjacent distance based on the sum of the first diagonal distance and the error variable to be solved, the fourth adjacent distance, and the angle difference between the first and second angle variables.

[0059] Specifically, the first distance constraint corresponds to the triangular distance relationship formed by the first, second, and third base stations; the second distance constraint corresponds to the triangular distance relationship formed by the first, second, and fourth base stations; and the third distance constraint corresponds to the triangular distance relationship formed by the first, third, and fourth base stations. Since these three distance constraints all originate from the geometric relationship formed by the four base stations in the horizontal projection plane, this set of distance constraint equations can establish a correlation between the distances between adjacent base stations, the distances between diagonal base stations, the angle variable, and the error variable to be solved, thus providing a basis for subsequently solving the non-line-of-sight error value.

[0060] In practical application scenarios, based on the non-line-of-sight propagation characteristics and base station layout analysis, adjacent base station pairs ( B 1- B 2. B 2- B 3. B 3- B 4. B 4- B 1) Since there is little signal obstruction between them, the estimated distance can be directly regarded as four pairs of true distances. L 12. L twenty three, L 34. L 14, that is: L 12 = L’ 12 L 23 = L’ twenty three L 34 = L’ 34 L 14 = L’ 14 The two pairs of base stations located diagonally ( B 1-B 3. B 2- B 4) Its signal needs to pass through a large metal structure located at the center, resulting in significant non-line-of-sight errors. Given that the metal structure is uniform in shape and roughly located in the central region, the surrounding environment is open with no other interference sources, and the sensor performance of each base station is consistent, it is reasonable to assume that the non-line-of-sight error distributions of these two pairs of base stations are the same, i.e., both follow the same pattern. The exponential distribution, having already undergone double mean filtering to eliminate the influence of Gaussian distribution errors, can therefore simultaneously characterize the non-line-of-sight errors of two pairs of diagonal base stations using the same unknown error amount μ. That is, the filtered unknown error amount is defined as ε1 = ε2 = μ, and this value is taken as ε. Therefore, the distance between the two pairs of corrected diagonal base stations... L 13 and L 24 can be represented as follows: L 13 = L’ 13 + ε L 24 = L’ 24 + ε Furthermore, Figure 5 A schematic diagram of a measurement polar coordinate system according to an embodiment of this application is shown. Figure 5 As shown, with B Base station 1 has its coordinate origin at (0,0). B 1. Base station pointing B 2. The direction of the base station is the positive polar axis, so a rectangular coordinate system is established. At this time... B The coordinates of the 2 base stations are ( L 12, 0). Let B The polar coordinates of the 3 base stations are ( L 13, θ1), where θ1 is ∠3-1-2; let B The polar coordinates of the 4 base stations are ( L 14, θ2), where θ2 is ∠4-1-2.

[0061] Based on the geometric distance relationships between the base stations, the following equations can be established simultaneously: ① Distance constraints between base stations 2 and 3: L 12² + L 13² - 2 L 12· L 13·cos(θ1) = L 23² ② Distance constraints between base stations 2 and 4: L 12² + L 14² - 2 L 12·L 14·cos(θ2) = L 24² ③ Distance constraints between base stations 3 and 4: L 13² + L 14² - 2 L 13· L 14·cos(θ2 - θ1) = L 34² in, L 13 = L’ 13 + ε, L 24 = L’ 24 + ε, L 12. L twenty three, L 34. L All 14 are known reliable distance values. In the above system of equations, there are only three unknowns: ε, θ1, and θ2. The system consists of three equations, which can be uniquely solved.

[0062] Step 404: Solve the distance constraint equations to obtain the non-line-of-sight error value, and correct the distance between the diagonal base stations based on the non-line-of-sight error value to obtain the corrected distance between the diagonal base stations.

[0063] In this embodiment of the application, after establishing the distance constraint equations, the computer device can solve the distance constraint equations. Since the distance constraint equations include the error variable to be solved, the first angle variable, and the second angle variable, by solving the distance constraint equations, the non-line-of-sight error value corresponding to the error variable to be solved, the first angle value corresponding to the first angle variable, and the second angle value corresponding to the second angle variable can be obtained.

[0064] Optionally, in this embodiment, the distance constraint equations can be numerically solved to obtain the non-line-of-sight error value corresponding to the error variable to be solved, the first angle value corresponding to the first angle variable, and the second angle value corresponding to the second angle variable. This numerical solution method can be a commonly used equation-solving method in the art, such as iteratively searching for unknowns within a preset value range, or using a nonlinear equation-solving algorithm until each constraint relationship in the distance constraint equations meets the preset error requirements.

[0065] After obtaining the non-line-of-sight (NOS) error value, the computer equipment can compensate for the first diagonal distance based on this NOS error value to obtain the corrected first diagonal base station distance. Similarly, it can compensate for the second diagonal distance based on the same NOS error value to obtain the corrected second diagonal base station distance. In other words, the errors introduced by large amusement park rides, such as obstruction, reflection, or diffraction, in both the first and second diagonal distances can be uniformly corrected using the obtained NOS error value. This method reduces the impact of NOS errors in the diagonal base station distances on subsequent base station coordinate calculations.

[0066] Step 405: Determine the coordinates of the four base stations based on the distance between the adjacent base stations and the corrected distance between the diagonal base stations.

[0067] In this embodiment of the application, after obtaining the distance between adjacent base stations and the corrected distance between diagonal base stations, the computer device can determine the coordinates of the four base stations in the same coordinate system based on the above distance information and the angle information obtained by solving.

[0068] Optionally, in this embodiment, a polar coordinate system can be established, with the first base station as the origin and the line connecting the first and second base stations as the polar coordinate axes. Since the first base station is the origin of the polar coordinate system, and the second base station is located on the polar coordinate axes, the position of the second base station relative to the first base station can be determined based on the first adjacent distance. Furthermore, the polar coordinates of the third base station relative to the first base station can be determined in the polar coordinate system based on the corrected first diagonal base station distance and the first angle value; and the polar coordinates of the fourth base station relative to the first base station can be determined in the same polar coordinate system based on the fourth adjacent distance and the second angle value.

[0069] In other words, the distance of the third base station relative to the first base station can be represented by the corrected distance between the first diagonal base stations, and the direction of the third base station relative to the polar coordinate axis can be represented by the first angle value; the distance of the fourth base station relative to the first base station can be represented by the fourth adjacent distance, and the direction of the fourth base station relative to the polar coordinate axis can be represented by the second angle value. Therefore, the computer equipment can unify the positions of the four base stations into a polar coordinate system with the first base station as the origin based on the above distance and angle values, thereby obtaining the coordinates of the four base stations.

[0070] Furthermore, after obtaining the polar coordinates, the precise coordinates of each base station can be calculated through polar-rectangular coordinate conversion: Base station B1 has coordinates (0, 0), and base station B2 has coordinates (...). L 12, 0), the coordinates of base station B3 are ( L 13·cosθ1, L 13·sinθ1), the coordinates of base station B4 are ( L14·cosθ2, L 14·sinθ2).

[0071] After obtaining the accurate coordinates of each base station, the distance between the UWB tag and each base station can be used to accurately locate the UWB tag installed on the large amusement facility, thereby completing the precise measurement of the parameters of the large amusement facility.

[0072] In summary, this application first deploys four base stations around a large amusement ride, connecting them sequentially in a horizontal projection plane to form a quadrilateral positioning area, with the projection of the large amusement ride located within this quadrilateral positioning area. In this case, the four base stations do not need to be precisely installed according to a fixed radius, fixed angle, or strict circumferential position; they only need to be arranged in an approximate rhombus shape around the large amusement ride on-site. Subsequently, the distance information between any two base stations can be quickly obtained through UWB ranging. Furthermore, this application distinguishes between the distance between adjacent base stations and the distance between diagonal base stations, and establishes a set of distance constraint equations with error constraints based on the distances between adjacent and diagonal base stations. This error constraint characterizes that the distances between two diagonal base stations have the same error distribution. Therefore, for diagonal ranging errors caused by the metal structure of the large amusement ride obstructing, reflecting, or diffracting, the non-line-of-sight error value can be obtained by solving the distance constraint equations, and this non-line-of-sight error value can be used to correct the diagonal base station distance. Finally, the coordinates of the four base stations are determined based on the distances between adjacent base stations and the corrected distances between diagonal base stations, thereby reducing the workload of manually measuring base station coordinates. This enables rapid self-calibration of base stations while reducing the impact of non-line-of-sight errors on the base station coordinate solution results, and simultaneously ensuring the accuracy and efficiency of self-calibration.

[0073] Figure 6 This document illustrates a structural block diagram of a rapid self-calibration device for UWB base stations used in large amusement rides, as shown in an embodiment of this application. Figure 6 As shown, the device is installed in a UWB base station rapid self-calibration system; the system includes four base stations, which are connected sequentially in a horizontal projection plane to form a quadrilateral positioning area, and the projection of the large amusement facility in the horizontal projection plane is located within the quadrilateral positioning area; the device includes: The distance measurement module 601 is used to acquire a set of base station distances; the set of base station distances includes distance information between any two base stations obtained by UWB ranging, and the distance information includes the distance between adjacent base stations and the distance between diagonal base stations; the distance between adjacent base stations is the distance between two base stations that are directionally adjacent; the distance between diagonal base stations is the distance between two base stations that are not directionally adjacent. The constraint construction module 602 is used to establish a set of distance constraint equations based on the distances between adjacent base stations and the distances between diagonal base stations; the set of distance constraint equations has error constraints; the error constraints are used to characterize that the distances between the two diagonal base stations have the same error distribution. The distance correction module 603 is used to solve the distance constraint equations to obtain the non-line-of-sight error value, and to correct the diagonal base station distance based on the non-line-of-sight error value to obtain the corrected diagonal base station distance. The coordinate determination module 604 is used to determine the coordinates of the four base stations based on the distance between adjacent base stations and the corrected distance between diagonal base stations.

[0074] In summary, this application first deploys four base stations around a large amusement ride, connecting them sequentially in a horizontal projection plane to form a quadrilateral positioning area, with the projection of the large amusement ride located within this quadrilateral positioning area. In this case, the four base stations do not need to be precisely installed according to a fixed radius, fixed angle, or strict circumferential position; they only need to be arranged in an approximate rhombus shape around the large amusement ride on-site. Subsequently, the distance information between any two base stations can be quickly obtained through UWB ranging. Furthermore, this application distinguishes between the distance between adjacent base stations and the distance between diagonal base stations, and establishes a set of distance constraint equations with error constraints based on the distances between adjacent and diagonal base stations. This error constraint characterizes that the distances between two diagonal base stations have the same error distribution. Therefore, for diagonal ranging errors caused by the metal structure of the large amusement ride obstructing, reflecting, or diffracting, the non-line-of-sight error value can be obtained by solving the distance constraint equations, and this non-line-of-sight error value can be used to correct the diagonal base station distance. Finally, the coordinates of the four base stations are determined based on the distances between adjacent base stations and the corrected distances between diagonal base stations, thereby reducing the workload of manually measuring base station coordinates. This enables rapid self-calibration of base stations while reducing the impact of non-line-of-sight errors on the base station coordinate solution results, and simultaneously ensuring the accuracy and efficiency of self-calibration.

[0075] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0076] The system in this embodiment is presented in the form of functional units. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0077] Please see Figure 7 , Figure 7This is a schematic diagram of the structure of an electronic device provided in an optional embodiment of this application. The electronic device may be a computer device used to achieve, for example... Figure 6 The device shown is part of a rapid self-calibration system for UWB base stations in large amusement park rides. This system, in addition to... Figure 7 In addition to the electronic devices shown, there are also such as Figure 1 The signals collected by each of the four base stations shown can be input into the electronic device for data processing via a communication module.

[0078] The electronic device includes one or more processors 10, a memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processor can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces).

[0079] The processor 10 may further include a hardware chip. This hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0080] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0081] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the use of the electronic device based on the display of a mini-program landing page. Furthermore, the memory 20 may include high-speed random access memory (RAM), and may also include non-transient memory, such as at least one disk storage device, flash memory device, or other non-transient solid-state storage device. The memory 20 may include volatile memory, such as RAM; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid-state drive; the memory 20 may also include combinations of the above types of memory.

[0082] The electronic device also includes a communication interface 30 for communicating with other devices or communication networks.

[0083] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0084] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A rapid self-calibration method for UWB base stations in large-scale amusement rides, characterized in that, The method is applied to a UWB base station rapid self-calibration system; the system includes four base stations, which are connected sequentially in a horizontal projection plane to form a quadrilateral positioning area, and the projection of the large amusement facility in the horizontal projection plane is located within the quadrilateral positioning area. The method includes: Obtain a set of base station distances; the set of base station distances includes distance information between any two base stations obtained through UWB ranging, the distance information includes the distance between adjacent base stations and the distance between diagonal base stations; the distance between adjacent base stations is the distance between two base stations that are directionally adjacent; the distance between diagonal base stations is the distance between two base stations that are not directionally adjacent; A set of distance constraint equations is established based on the distances between adjacent base stations and the distances between diagonal base stations; the set of distance constraint equations has error constraints; the error constraints are used to characterize that the distances between two diagonal base stations have the same error distribution. Solve the distance constraint equations to obtain the non-line-of-sight error value, and correct the diagonal base station distance based on the non-line-of-sight error value to obtain the corrected diagonal base station distance; The coordinates of the four base stations are determined based on the distances between adjacent base stations and the corrected distances between diagonal base stations.

2. The method according to claim 1, characterized in that, The step of establishing a set of distance constraint equations based on the distances between adjacent base stations and the distances between diagonal base stations includes: According to the aforementioned directional order, the four base stations are sequentially identified as the first base station, the second base station, the third base station, and the fourth base station; The distance between adjacent base stations between the first base station and the second base station is determined as the first adjacent distance, the distance between adjacent base stations between the second base station and the third base station is determined as the second adjacent distance, the distance between adjacent base stations between the third base station and the fourth base station is determined as the third adjacent distance, and the distance between adjacent base stations between the fourth base station and the first base station is determined as the fourth adjacent distance. The diagonal distance between the first base station and the third base station is defined as the first diagonal distance, and the diagonal distance between the second base station and the fourth base station is defined as the second diagonal distance; The first adjacent distance, the second adjacent distance, the third adjacent distance, and the fourth adjacent distance are taken as known distances. The non-line-of-sight errors corresponding to the first diagonal distance and the second diagonal distance are set as the same error variable to be solved. The first angle variable, the second angle variable, and the error variable to be solved are taken as unknowns to establish the distance constraint equation system. Wherein, the first angle variable is used to characterize the angle between the direction from the first base station to the second base station and the direction from the first base station to the third base station, and the second angle variable is used to characterize the angle between the direction from the first base station to the second base station and the direction from the first base station to the fourth base station.

3. The method according to claim 2, characterized in that, The distance constraint equation set includes a first distance constraint, a second distance constraint, and a third distance constraint; the first distance constraint, the second distance constraint, and the third distance constraint are respectively established based on the cosine theorem. The first distance constraint is used to constrain the second adjacent distance based on the sum of the first adjacent distance, the first diagonal distance and the error variable to be solved, and the first angle variable; The second distance constraint is used to constrain the sum of the second diagonal distance and the error variable to be solved based on the first adjacent distance, the fourth adjacent distance, and the second angle variable; The third distance constraint is used to constrain the third adjacent distance based on the sum of the first diagonal distance and the error variable to be solved, the fourth adjacent distance, and the angle difference between the first angle variable and the second angle variable.

4. The method according to claim 3, characterized in that, Solving the distance constraint equations to obtain the non-line-of-sight error value, and then correcting the diagonal base station distance based on the non-line-of-sight error value to obtain the corrected diagonal base station distance, includes: Numerical solution is performed on the distance constraint equations to obtain the non-line-of-sight error value corresponding to the error variable to be solved, the first angle value corresponding to the first angle variable, and the second angle value corresponding to the second angle variable. Based on the non-line-of-sight error value, the first diagonal distance is compensated to obtain the corrected first diagonal base station distance, and based on the non-line-of-sight error value, the second diagonal distance is compensated to obtain the corrected second diagonal base station distance.

5. The method according to claim 4, characterized in that, Determining the coordinates of the four base stations based on the distances between adjacent base stations and the corrected diagonal base station distances includes: Based on the corrected first diagonal base station distance and the first angle value, the polar coordinates of the third base station relative to the first base station are determined in the polar coordinate system. Based on the fourth adjacent distance and the second angle value, the polar coordinates of the fourth base station relative to the first base station are determined in the polar coordinate system; The polar coordinate system has the first base station as the origin and the line connecting the first base station and the second base station as the polar coordinate axes.

6. The method according to any one of claims 1 to 5, characterized in that, The acquisition of the base station distance set includes: For any base station, obtain the one-way measurement distance between the base station and other base stations; the one-way measurement distance is the distance measured by the base station when the UWB tag is placed at other base stations. The two unidirectional measured distances of each pair of base stations are averaged bidirectionally to obtain the base station distance set.

7. The method according to claim 6, characterized in that, The unidirectional measurement distance is the average distance measured multiple times through the base station when the UWB tag is placed at other base stations.

8. A rapid self-calibration device for UWB base stations in large amusement facilities, characterized in that, The device is installed in a UWB base station rapid self-calibration system; the system includes four base stations, which are connected in order of orientation in a horizontal projection plane to form a quadrilateral positioning area, and the projection of the large amusement facility in the horizontal projection plane is located within the quadrilateral positioning area. The device includes: A distance measurement module is used to acquire a set of base station distances; the set of base station distances includes distance information between any two base stations obtained by UWB ranging, and the distance information includes the distance between adjacent base stations and the distance between diagonal base stations; the distance between adjacent base stations is the distance between two base stations that are directionally adjacent; the distance between diagonal base stations is the distance between two base stations that are not directionally adjacent. A constraint construction module is used to establish a set of distance constraint equations based on the distances between adjacent base stations and the distances between diagonal base stations; the set of distance constraint equations has error constraints; the error constraints are used to characterize that the distances between two diagonal base stations have the same error distribution. The distance correction module is used to solve the distance constraint equations to obtain the non-line-of-sight error value, and to correct the diagonal base station distance based on the non-line-of-sight error value to obtain the corrected diagonal base station distance. The coordinate determination module is used to determine the coordinates of the four base stations based on the distances between adjacent base stations and the corrected distances between diagonal base stations.

9. A rapid self-calibration system for UWB base stations in large-scale amusement rides, characterized in that, The system includes four base stations, which are connected in order of orientation in a horizontal projection plane to form a quadrilateral positioning area. The projection of the large amusement facility in the horizontal projection plane is located within the quadrilateral positioning area. The system also includes an electronic device, which includes a memory and a processor. The memory and the processor are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the rapid self-calibration method for UWB base stations for large amusement facilities as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the rapid self-calibration method for UWB base stations for large amusement facilities as described in any one of claims 1 to 7.

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