CN114339608A - Positioning method, device, system and storage medium - Google Patents
Positioning method, device, system and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a positioning method, a positioning device, a positioning system and a storage medium. The method is applied to a positioning system, the positioning system comprises at least two communication groups, each communication group comprises a label and a base station, each label is arranged on a mobile device and belongs to communication connection between the label and the base station in the same communication group, and the method can comprise the following steps: respectively acquiring the ranging information which is obtained by measurement of each communication group and is subjected to abnormal filtering; and performing fusion processing on the target information of the mobile device obtained at the same position in each ranging information, and positioning the mobile device moving to the same position based on the result of the fusion processing. According to the technical scheme of the embodiment of the invention, the distance measurement abnormal blind area of each label is reduced by fusing the distance measurement information of each label after abnormal filtering, so that the problem of position loss of the construction robot installed on the mobile platform in the operation process is solved.
Description
Technical Field
The embodiment of the invention relates to the technical field of wireless positioning, in particular to a positioning method, a positioning device, a positioning system and a storage medium.
Background
An Ultra Wide Band (UWB) technology is used as a wireless carrier communication technology, has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is currently applied to the fields of robots, property, security and the like. For example, in the field of construction robots, the working trajectory of a construction robot is relatively fixed, but it is necessary to ensure high positioning accuracy within the working trajectory range. The UWB technology is used for ranging in a wireless mode, and natural anti-interference performance on temperature, humidity, illumination intensity, dust and the like exists depending on UWB signal transmission among base station tags.
However, the working environment of the construction robot is relatively complex, which easily causes a lot of interference such as multipath, non-line-of-sight, etc. in the UWB signal transmission process. Particularly, in the environment of climbing the outer wall and wall body, the construction robot is arranged on the mobile platform, and can perform corresponding wall body operation along with the movement of the mobile platform on the outer wall guide rail. Due to the fact that the operation width is narrow, multipath phenomenon in the UWB signal transmission process is more prone to being caused, the problem that the position of the building robot is lost in the operation process is solved, and risks in construction operation are increased. If the construction robot is left in a lost position state for a long time, it is easily damaged to some extent, and in a more serious case, it is easily dangerous for surrounding workers.
Disclosure of Invention
The embodiment of the invention provides a positioning method, a positioning device, a positioning system and a storage medium, which solve the problem that a building robot arranged on a mobile platform is lost in the operation process.
In a first aspect, an embodiment of the present invention provides a positioning method, where the method is applied to a positioning system, where the positioning system includes at least two communication groups, each communication group includes a tag and a base station, and each tag is disposed on a mobile device and is in communication connection between a tag belonging to the same communication group and the base station, and the method includes:
respectively acquiring the ranging information which is obtained by measurement of each communication group and is subjected to abnormal filtering;
and performing fusion processing on target information of the mobile device acquired at the same position in each ranging information, and positioning the mobile device moved to the same position based on the result of the fusion processing.
Optionally, the fusion processing includes performing exception checking on each target information and selecting low-exception target information, and a result of the fusion processing includes the low-exception target information.
Optionally, the exception checking may include: respectively determining the movement information of each corresponding label when the mobile device moves; and performing secondary abnormal filtering on each target information according to each piece of movement information, and screening out low abnormal target information from each target information according to the result of the secondary abnormal filtering.
Optionally, the moving information includes a step length difference between the labels at the previous and subsequent times, and the second exception filtering includes comparing the step length difference between the two labels with a step length threshold, and if the step length difference of one of the labels is greater than the step length threshold, using the target information of the other label as the low exception target information.
Optionally, the distance measurement information after being filtered by the exception may be obtained through the following steps: acquiring current ranging information which is newly measured and obtained in the same communication group and historical ranging information which is measured before the current ranging information and is subjected to abnormal filtering and has a preset number; and performing exception filtering on the current ranging information according to a numerical value statistical result between the current ranging information and each piece of historical ranging information, and taking the current ranging information which is reserved after exception filtering and the historical ranging information except the historical ranging information which is obtained by the first measurement in each piece of historical ranging information as the ranging information which is subjected to exception filtering in the same communication group.
Optionally, on this basis, the positioning method may further include: increasing the abnormal times of distance measurement after the current distance measurement information is abnormally filtered; when the abnormal ranging times reach a preset time threshold value, acquiring a preset number of pieces of ranging information to be judged obtained through latest measurement, and performing steady state judgment on the ranging information to be judged; and if the steady state judgment is successful, taking the ranging information to be judged as historical ranging information.
Optionally, after obtaining the ranging information obtained by measurement of each communication group and subjected to exception filtering, the positioning method may further include: acquiring an influence parameter of the ranging information in the measuring process, performing ranging compensation on the ranging information according to the influence parameter, and updating the ranging information according to a ranging compensation result;
the ranging compensation comprises original distance compensation and/or ranging error compensation, the original distance compensation is used for compensating ranging information and ranging errors, the ranging errors are errors between the ranging information and real information corresponding to the ranging information, and the ranging error compensation is used for compensating the ranging information and the real information or compensating the ranging information and the real information after the original distance compensation.
In a second aspect, an embodiment of the present invention further provides a positioning apparatus, where the apparatus is configured in a positioning system, the positioning system includes at least two communication groups, each communication group includes a tag and a base station, and each tag is disposed on a mobile apparatus, and is in communication connection between a tag belonging to the same communication group and the base station, the apparatus includes:
the acquisition module is used for respectively acquiring the ranging information which is obtained by measurement of each communication group and is subjected to abnormal filtering;
and the positioning module is used for performing fusion processing on target information of the mobile device acquired at the same position in each ranging information and positioning the mobile device moving to the same position based on the result of the fusion processing.
In a third aspect, an embodiment of the present invention further provides a positioning system, where the positioning system may include:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the positioning method provided by any embodiment of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the positioning method provided in any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, the distance measuring information obtained by measuring the labels and the base stations in each communication group in the UWB signal transmission process is obtained, and the distance measuring information is subjected to abnormal filtering; and performing fusion processing on target information of the mobile device acquired at the same position in each abnormal and filtered ranging information, wherein the target information can be derived from at least one label, and further positioning the mobile device moved to the same position based on the fusion processing result, wherein the mobile device can be a construction robot, a mobile platform, or a combination device of the mobile platform and the construction robot, and the like. According to the technical scheme, the characteristic that each label has difference in distance measurement abnormality caused by interference of the operation environment is effectively utilized, and the distance measurement abnormal blind area of each label is reduced by means of fusing the distance measurement information of each label after abnormal filtering, so that the problem that the position of the construction robot installed on the mobile platform is lost in the operation process is solved, and the accurate positioning effect of the construction robot is realized.
Drawings
Fig. 1 is a schematic application diagram of an application system in a positioning method according to an embodiment of the present invention;
fig. 2 is a flowchart of a positioning method according to a first embodiment of the present invention;
fig. 3 is a flowchart of a positioning method according to a second embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an application of an exception filtering process in a positioning method according to a second embodiment of the present invention;
fig. 5 is a flowchart of a positioning method in the third embodiment of the present invention;
fig. 6 is an application diagram of an overall flow in a positioning method according to a third embodiment of the present invention;
fig. 7 is a block diagram of a positioning apparatus according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural diagram of a positioning system in the fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before the embodiment of the present invention is described, an application scenario of the embodiment of the present invention is exemplarily described: compared with other industrial fields, the construction robot has more complex and severe working environment, which easily causes the phenomena of multipath, non-line-of-sight and the like in the UWB signal transmission process, further brings the problems of large abnormal distance measurement, layering, abnormal distance measurement trend, failed distance measurement and the like, and has great influence on positioning accuracy. In order to solve the problem of abnormal ranging due to multipath, non-line-of-sight and other reasons, optionally, abnormal filtering is performed on the measured ranging information, so as to filter abnormal information with abnormality from each ranging information. However, after the distance measuring information is abnormally filtered, the distance measuring information at some positions may be lost, which causes a problem that the position of the construction robot mounted on the mobile platform is lost during the operation. Namely, the problem of position loss of the construction robot can be caused by abnormal ranging and failed ranging.
In order to solve the problem of the position loss, it is considered that the distance measurement abnormality caused by the interference of the tags mounted on different parts of the mobile platform and/or the construction robot to the working environment has inconsistency, that is, the position distance measurement characteristics of the tags have inconsistency, which means that at most one tag has distance measurement abnormality at different positions with a high probability, and the position distance measurement characteristics may also be referred to as area distance measurement characteristics. On this basis, the embodiments of the present invention consider that the respective ranging effective areas of at least two tags can be fused to avoid the abnormal ranging blind area, thereby reducing the possibility of position loss.
Based on this, the positioning method provided in the embodiment of the present invention may be applied to a positioning system, where the positioning system includes at least two communication groups, each communication group includes a tag and a base station, each tag is disposed on a mobile device, and the tags and the base stations belonging to the same communication group are in communication connection, and no communication is performed between the tags and the base stations belonging to different communication groups. On this basis, optionally, the number of the tags in each communication group may be one, and the number of the base stations may be one, two, or more, and each base station may be disposed on the same side as the tag so as to avoid the communication between the base station and the tag being blocked; alternatively, the mobile device is a mobile device, such as a mobile platform, a construction robot, a combination of a mobile platform and a construction robot, and the like; optionally, the installation positions of the tags and the base stations are not specifically limited, and they may have height differences in each direction or may be located on the same straight line, in practical applications, optionally, the number of the communication groups is two, and the number of the base stations and the tags in each communication group is one, as shown in fig. 1, the two tags are respectively installed at two ends of the mobile platform, the two base stations are respectively installed at two sides of the guide rail, the installation positions of the tags and the base stations are both located on the same straight line, and the moving area of the mobile platform is also on the straight line, and the base stations and the tags located on the same side communicate with each other, that is, the a tag and the a base station belong to the same communication group, and the B tag and the B base station belong to the same communication group.
Example one
Fig. 2 is a flowchart of a positioning method according to an embodiment of the present invention. This embodiment is applicable to the condition that fuses the range finding information of double label in order to fix a position the mobile device that this double label belongs to. The method can be executed by a positioning device provided by the embodiment of the invention, the device can be realized by software and/or hardware, and the device can be integrated on a positioning system.
Referring to fig. 2, the method of the embodiment of the present invention specifically includes the following steps:
and S110, respectively obtaining the ranging information which is obtained by measurement of each communication group and is subjected to abnormal filtering.
Wherein, obtain the range finding information that has not passed through the abnormal filtration in every communication group respectively, the acquisition process of certain range finding information can be: after each tag is accessed to the ultra-wideband synchronous network, respectively acquiring a messaging timestamp in each communication group, wherein the messaging timestamp can comprise a message receiving timestamp and a message sending timestamp, and the messaging process corresponding to the messaging timestamp can be realized in a downlink mode (namely a mode of sending by a base station and receiving by the tag) or an uplink mode (namely a mode of broadcasting by the tag and receiving by the base station); further, ranging information is determined from each messaging timestamp.
On the basis, the distance measuring information can have abnormal information because the obtaining process of the distance measuring information is easily interfered by the working environment of the construction robot. In order to improve the positioning accuracy of the subsequent mobile device, the ranging information may be filtered abnormally to obtain the ranging information after being filtered abnormally. The above-mentioned exception filtering process may be, for example, each ranging information measured by a certain tag, where the ranging information may be information obtained by ranging the mobile device in a stationary state, or information obtained by ranging in a moving process, and each ranging information is exception filtered according to an association relationship between each ranging information, where the association relationship may be a maximum absolute offset of previous and subsequent ranging information, a ranging stability (e.g., a short-time standard difference), and the like, and the ranging stability may be a stability in a stationary state, or a stability in a moving process determined according to a moving speed, and the like, so as to implement effective exception filtering of the ranging information independent from each tag.
And S120, performing fusion processing on target information of the mobile device acquired at the same position in each ranging information, and positioning the mobile device moved to the same position based on the fusion processing result.
The distance measurement abnormal blind area can be a blind area caused by distance measurement failure or a blind area caused by abnormal filtering, and the respective distance measurement effective areas of the labels can be fused by utilizing the area sensitivity of the labels to the operation environment in order to avoid the distance measurement abnormal blind area as much as possible.
Specifically, each of the above-mentioned abnormally filtered ranging information may be information measured at the same location or information measured at different locations, and thus target information of the mobile device obtained at the same location is selected from the ranging information, the target information being ranging information obtained when the mobile device moves to the same location, the same location being a certain location when the mobile device moves, and when the number of the target information is at least two, the same location indicates that each of the target information is ranging information obtained at one location but not ranging information obtained at different locations.
On this basis, it is possible to perform fusion processing on each target information and to position the mobile device that has moved to the same position based on the result of the fusion processing. For example, when the number of target information is one, the result of the fusion process may be regarded as the target information, i.e., the mobile device is directly located according to the target information. When the number of the target information is at least two, the target information can be fused according to the target information and the relative distance between the labels corresponding to the at least two target information; or, the at least two pieces of target information can be subjected to anomaly verification, that is, whether the at least two pieces of target information have the abnormal information or not is judged again, and the mobile device is positioned according to the result of secondary anomaly filtering, so that the positioning accuracy of the mobile device is further improved; and so on.
In practical applications, optionally, the above target information may be determined by, in a normal case, an output refresh rate of each tag is high, where the output refresh rate may be the number of times of ranging between the tag base stations in a unit time, and taking as an example that each ranging information of each tag constitutes one ranging sequence, this means that ranging information located at the same sequence position in each ranging sequence may be considered as target information measured at the same position, for example, the 1 st ranging information in each ranging sequence is target information measured at the same position. Therefore, according to the sequence of the ranging information in each ranging sequence, it can be determined whether two pieces of ranging information are target information measured at the same position. In addition, the fact that the output refresh rate of each tag is high means that a plurality of pieces of ranging information can be measured per unit time, and thus the plurality of pieces of side moment information can be output by a discrete point method or a local ranging average method.
According to the technical scheme of the embodiment of the invention, the distance measuring information obtained by measuring the labels and the base stations in each communication group in the UWB signal transmission process is obtained, and the distance measuring information is subjected to abnormal filtering; and performing fusion processing on target information of the mobile device acquired at the same position in each abnormal and filtered ranging information, wherein the target information can be derived from at least one label, and further positioning the mobile device moved to the same position based on the fusion processing result, wherein the mobile device can be a mobile platform, a construction robot, or a combination device of the mobile platform and the construction robot, and the like. According to the technical scheme, the characteristic that each label has difference in distance measurement abnormality caused by interference of the operation environment is effectively utilized, and the distance measurement abnormal blind area of each label is reduced by means of fusing the distance measurement information of each label after abnormal filtering, so that the problem that the position of the construction robot installed on the mobile platform is lost in the operation process is solved, and the accurate positioning effect of the construction robot is realized.
According to an optional technical scheme, the number of the target information is at least two, the fusion processing may include performing exception checking on each target information and selecting low-exception target information, the result of the fusion processing includes the low-exception target information, that is, performing exception checking on each target information, and screening out the low-exception target information from the result of the exception checking, wherein the low-exception target information is the target information with low exception probability in each target information. On this basis, optionally, the implementation process of the exception checking may be: respectively determining the movement information of each corresponding tag when the mobile device moves, for example, the movement information of a tag can be determined according to each ranging information of the tag, and the movement information can be the step length difference of the tag at front and back moments, such as the step length (i.e., the movement distance), the step gradient, the movement speed and the like; and performing secondary abnormal filtering on each target information according to each piece of movement information, and screening out low abnormal target information from each target information according to the result of the secondary abnormal filtering, wherein the secondary abnormal filtering process can be realized by comparing the step length difference of the two labels with a step length threshold value, and if the step length difference of one of the two labels is greater than the step length threshold value, taking the target information of the other label as the low abnormal target information.
In consideration of application scenarios that may be involved in the embodiments of the present invention, since the installation positions of the tags are relatively fixed, during the moving process of the mobile device, there may be an association relationship between the mobile information, where the association relationship may be that the distance sum of the mobile information is a fixed value, the distance difference is a fixed value, and so on, or when the installation positions of the base station and the tags are both located on the same straight line and the moving area of the mobile device is also on the same straight line, the association relationship may be that the absolute values of the mobile information are the same. That is, when each piece of moving information does not satisfy the association relationship, this indicates that there is abnormal information in each piece of target information, thereby achieving the effect of performing abnormal filtering again on the at least two pieces of target information according to the moving information of each tag, where the abnormal information may be derived from the ranging information that is not filtered in the abnormal filtering step, or may be information that appears when ranging compensation is performed on the ranging information after abnormal filtering, and the ranging error at a certain position is amplified compared with other positions, and so on.
On this basis, optionally, after determining that there is abnormal information in each target information according to the association relationship between each piece of movement information, performing abnormal filtering again on the movement information belonging to the same tag, and screening out effective information from each piece of target information according to the result of the abnormal filtering again, for example, using the target information of the tag where the movement information that is not filtered out is located as effective information, so as to locate the mobile device that moves to the same position according to the effective information. For example, taking the example that the movement information is a step length, the difference between any two pieces of ranging information of the a-tag is a step length, and assuming that the a-tag has a step length exceeding the maximum step length and the B-tag does not have a step length exceeding the maximum step length, the target information of the B-tag may be output as valid information.
According to the technical scheme, through the combined verification of the ranging information among the plurality of labels, the abnormal information which is not filtered in the abnormal filtering link can be filtered, and the remaining effective ranging information can be added to improve the positioning accuracy and the positioning stability of the positioning system. In addition, the ranging information of each tag can be output in a mean value mode by increasing the output refresh rate of each tag, so that the repetition precision can be effectively reduced, the repetition precision can be the standard deviation between the ranging information measured when the mobile device moves to a certain position, and the effect of high-precision positioning of the mobile device is realized.
Example two
Fig. 3 is a flowchart of a positioning method according to a second embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, the ranging information after being filtered by the exception may be obtained through the following steps: acquiring current ranging information which is newly measured and obtained in the same communication group and historical ranging information which is measured before the current ranging information and is subjected to abnormal filtering and has a preset number; and performing exception filtering on the current ranging information according to the numerical value statistical result between the current ranging information and each historical ranging information. The same or corresponding terms as those in the above embodiments are not explained in detail herein. Referring to fig. 3, the method of this embodiment may specifically include the following steps:
s210, current ranging information which is obtained by latest measurement and belongs to the same communication group and historical ranging information which is obtained by measurement before the current ranging information and is subjected to abnormal filtering and is in a preset quantity are obtained.
Taking a certain communication group in each communication group as an example, the current ranging information in the communication group is the ranging information obtained by the latest measurement and not subjected to the abnormal filtering, the historical ranging information is the ranging information obtained by the measurement and subjected to the abnormal filtering, and the quantity of the historical ranging information is the preset quantity, because the current ranging information is subjected to the abnormal filtering by taking the preset quantity of the historical ranging information as the basis.
S220, according to the numerical value statistical result between the current ranging information and each historical ranging information, performing exception filtering on the current ranging information, and taking the current ranging information which is reserved after exception filtering and the historical ranging information except the historical ranging information which is obtained by the first measurement in each historical ranging information as the ranging information which is subjected to exception filtering in the same communication group.
The numerical statistical result may be a difference between the current ranging information and an average value of each piece of historical ranging information, a standard deviation of the current ranging information and the historical ranging information other than the historical ranging information obtained by the first measurement in each piece of historical ranging information, and the like.
For example, taking the preset number of 20 as an example, after a certain communication group completes one ranging task, the current ranging information and 20 pieces of historical ranging information are acquired, and the 20 pieces of historical ranging information are used as a ranging sequence. It is determined whether the difference between the current ranging information and the average of the 20 historical ranging information is greater than a maximum allowable difference, which may be determined based on a maximum moving speed, a maximum step length, and the like. If yes, adding the current ranging information to the end of the ranging sequence and deleting the 1 st historical ranging information in the ranging sequence, otherwise, rejecting the current ranging information. Subsequently, after the communication group completes the ranging task once again, the above steps may be further performed to perform exception filtering on the current ranging information, which may be referred to as mobile absolute offset determination. As another example, a standard deviation between the current ranging information and the last 19 historical ranging information of the 20 historical ranging information may be calculated, and whether the standard deviation is greater than a deviation marking threshold value is determined, if yes, it is determined that the current ranging information is abnormal, which may be referred to as a moving stability deviation determination, and error accumulation may be detected by using long-term stability. In practical application, the mobile absolute deviation judgment and the mobile stability deviation judgment can be matched together, and the current distance measurement information can be kept when the current distance measurement information is judged through the mobile absolute deviation judgment and the mobile stability deviation judgment at the same time, so that the accuracy of abnormal filtration is improved.
And S230, respectively acquiring the ranging information which is obtained by measurement of each communication group and is subjected to abnormal filtering.
S240, performing fusion processing on the target information of the mobile device acquired at the same position in each ranging information, and positioning the mobile device moved to the same position based on the result of the fusion processing.
According to the technical scheme of the embodiment of the invention, the current ranging information can be abnormally filtered according to the numerical value statistical result between the current ranging information and each piece of historical ranging information by acquiring the latest measured current ranging information belonging to the same communication group and the preset number of pieces of abnormally filtered historical ranging information measured before the current ranging information, so that the abnormally filtered current ranging information is obtained.
On the basis, considering that the initial stage of the abnormal filtering does not have the history ranging information of the preset number after the abnormal filtering, at this time, the steady state judgment can be firstly carried out on the preset number of the ranging information to be judged obtained by measurement, and the preset number of the ranging information to be judged meeting the steady state judgment is taken as the history ranging information, so that the history ranging information can be the ranging information obtained by measurement in the normal ranging state, and after the current ranging information is subjected to effective abnormal filtering according to the history ranging information, the normal current ranging information cannot be filtered out and/or the abnormal current ranging information cannot be filtered out. The steady state judgment criterion may be standard deviation, mean square deviation, etc. Illustratively, 20 pieces of ranging information are acquired at the same position, whether the standard deviation of the 20 pieces of ranging information is smaller than a preset standard deviation threshold value is judged, if yes, the 20 pieces of ranging information are considered to meet the steady state judgment, otherwise, the next piece of ranging information is acquired, the last 19 pieces of ranging information and the next piece of ranging information in the 20 pieces of ranging information are taken as new 20 pieces of ranging information, and the steady state judgment process is executed again. Further illustratively, 20 pieces of ranging information are acquired at different positions, and whether the gradient change and the speed change of the 20 pieces of ranging information are smaller than a preset change threshold is determined, because the rest of the moving stages are moving at a constant speed except for the moving starting stage and the moving ending stage.
On this basis, an optional technical solution, the positioning method may further include: increasing the abnormal times of distance measurement after the current distance measurement information is abnormally filtered; when the abnormal frequency of the distance measurement reaches a preset frequency threshold value, the distance measurement information has certain hysteresis, and the steady state judgment can be executed again, namely, the latest measured preset number of distance measurement information to be judged is obtained, and the steady state judgment is carried out on the distance measurement information to be judged; and if the steady state judgment is successful, taking the ranging information to be judged as historical ranging information. Illustratively, continuing with the above example, as shown in fig. 4, when the steady state determination is successful and the moving absolute offset determination or the moving stability offset determination fails, the number of times of the ranging anomaly is +1, and when the number of times of the ranging anomaly reaches the preset number threshold, the steady state determination is executed again; and outputting the current ranging information after abnormal filtering when the steady state judgment, the moving absolute deviation judgment and the moving stability deviation judgment are successful.
EXAMPLE III
Fig. 5 is a flowchart of a positioning method provided in the third embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, after obtaining the ranging information obtained by measuring in each communication group and filtered by the anomaly, the positioning method may further include: and acquiring an influence parameter of the ranging information in the measuring process, performing ranging compensation on the ranging information according to the influence parameter, and updating the ranging information according to a ranging compensation result. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
Referring to fig. 5, the method of this embodiment may specifically include the following steps:
and S310, respectively obtaining the ranging information which is obtained by measurement of each communication group and is subjected to abnormal filtering.
S320, obtaining an influence parameter of the ranging information in the measuring process, performing ranging compensation on the ranging information according to the influence parameter, and updating the ranging information according to a ranging compensation result.
The communication group may be affected by the surrounding environment during the measurement process, and there may be an error between the measured ranging information and the real information (i.e., the real distance information), for example, the UWB signal may be attenuated due to the influence of temperature, humidity, and the like during the measurement process. Therefore, after the ranging information obtained by measurement of a certain communication group and subjected to abnormal filtering is obtained, ranging compensation can be performed on the ranging information so that the ranging information subjected to ranging compensation is closer to real information. Specifically, the ranging compensation process may be implemented by using an influence parameter, where the influence parameter is a concrete representation of a surrounding environment, such as a Signal to Noise Ratio (SNR), a Signal transmission attenuation factor, a transmission power, a Received Signal Strength (RSSI), an antenna delay, and the like. The specific value of the influence parameter can be determined in a training stage, and illustratively, a distance measurement compensation model is constructed according to the influence parameter, the input parameter of the distance measurement compensation model is distance measurement information and the influence parameter, and the output parameter is real information, so that in the model training stage, the distance measurement compensation model is trained according to the distance measurement information and the real information corresponding to the distance measurement information to obtain the trained distance measurement compensation model, namely the trained influence parameter, and the distance measurement information can be corrected according to the influence parameter.
On this basis, optionally, the ranging compensation includes original distance compensation and/or ranging error compensation, where the original distance compensation compensates between the ranging information and the ranging error, the ranging error is an error between the ranging information and real information corresponding to the ranging information, and the ranging error compensation compensates between the ranging information and the real information or compensates between the ranging information and the real information after the original distance compensation. Illustratively, continuing with the above example as an example, since the influence parameters of the original distance compensation and the ranging error compensation are different, the ranging compensation model is divided into the original distance compensation model and the ranging error compensation model, and then the ranging compensation can be performed on the ranging information according to the following equation:
dT＝f(d0,α)+h(d0,β)
wherein, f (d)0α) is the original distance compensation model, h (d)0Beta) is a model for range error compensation, doIs true information, doIs the ranging information, α is the impact parameter related to the original range compensation model, such as SNR, signal transmission attenuation factor, transmit power, RSSI, etc., and β is the impact parameter related to the ranging error compensation model, such as antenna delay, SNR, signal transmission attenuation factor, transmit power, RSSI, etc.
And S330, performing fusion processing on target information of the mobile device acquired at the same position in each ranging information, and positioning the mobile device moved to the same position based on the fusion processing result.
According to the technical scheme of the embodiment of the invention, the influence parameters of the ranging information in the measuring process are obtained, so that the ranging information is subjected to ranging compensation according to the influence parameters, and the ranging information closer to the real information is obtained, and therefore, the truth of the ranging information is improved.
In order to better understand an alternative implementation flow of the above steps, the following describes an exemplary positioning method according to this embodiment with reference to a specific example. For example, as shown in fig. 6, after completing a ranging task, ranging information may be acquired, and exception filtering may be performed on the ranging information; and performing distance compensation on the distance measurement information retained after the abnormal filtering, fusing the distance measurement information of each label after the distance compensation, and outputting the final distance measurement information.
Example four
Fig. 7 is a block diagram of a positioning apparatus according to a fourth embodiment of the present invention, which is configured to execute the positioning method according to any of the embodiments. The device and the positioning method of the embodiments belong to the same inventive concept, and details which are not described in detail in the embodiments of the positioning device may refer to the embodiments of the positioning method. Referring to fig. 7, the apparatus is configured in a positioning system, the positioning system includes at least two communication groups, each communication group includes a tag and a base station, each tag is disposed on a mobile apparatus, and the tags belonging to the same communication group are in communication connection with the base station, and the apparatus specifically includes: an acquisition module 410 and a positioning module 420. The obtaining module 410 is configured to obtain, respectively, the distance measurement information obtained by measurement of each communication group and subjected to exception filtering; and the positioning module 420 is configured to perform fusion processing on target information of the mobile device acquired at the same position in each ranging information, and position the mobile device moving to the same position based on a result of the fusion processing.
Optionally, the fusion process in the positioning module 420 may be implemented by the following units:
and the abnormality checking unit is used for performing abnormality checking on each target information and selecting low-abnormality target information, and the fusion processing result comprises the low-abnormality target information.
Optionally, the exception checking unit may specifically include:
the mobile information determining subunit is used for respectively determining the mobile information of each corresponding label when the mobile device moves; and the abnormity checking subunit is used for carrying out abnormity filtering again on each target information according to each piece of moving information, and screening out low-abnormity target information from each target information according to the result of abnormity filtering again.
Optionally, the moving information includes a step length difference of the label at front and back time;
the exception syndrome unit may be specifically configured to: and comparing the step length difference of the two labels with a step length threshold value, and if the step length difference of one label is greater than the step length threshold value, taking the target information of the other label as low abnormal target information.
Optionally, the positioning device may further include: the system comprises a distance measurement information acquisition module, a distance measurement information processing module and a distance measurement information processing module, wherein the distance measurement information acquisition module is used for acquiring current distance measurement information which is newly measured and obtained in the same communication group and historical distance measurement information which is measured before the current distance measurement information and is subjected to abnormal filtering and is in a preset quantity;
the anomaly filtering module is used for carrying out anomaly filtering on the current ranging information according to the numerical value statistical result between the current ranging information and each historical ranging information;
and the ranging information determining module is used for taking the current ranging information which is reserved after abnormal filtering and the historical ranging information except the historical ranging information which is obtained by the first measurement in the historical ranging information as the ranging information which is subjected to abnormal filtering in the same communication group.
Optionally, on the basis of the above apparatus, the apparatus may further include: the distance measurement abnormal frequency increasing module is used for increasing the distance measurement abnormal frequency after the current distance measurement information is abnormally filtered;
the steady state judgment module is used for acquiring the latest measured preset number of pieces of ranging information to be judged when the abnormal ranging times reach a preset time threshold value, and performing steady state judgment on the ranging information to be judged;
and the updating module is used for taking the ranging information to be judged as historical ranging information if the steady state judgment is successful.
Optionally, the positioning device may further include:
and the ranging compensation module is used for acquiring the influence parameters of the ranging information in the measuring process, performing ranging compensation on the ranging information according to the influence parameters, and updating the ranging information according to the ranging compensation result.
Optionally, the distance measurement compensation includes original distance compensation and/or distance measurement error compensation, the original distance compensation compensates distance measurement information and distance measurement errors, the distance measurement errors are errors between the distance measurement information and real information corresponding to the distance measurement information, and the distance measurement error compensation compensates the distance measurement information and the real information or compensates the distance measurement information and the real information after the original distance compensation.
In the positioning device provided by the fourth embodiment of the present invention, the distance measuring information measured during UWB signal transmission between the tag and the base station in each communication group is obtained by the obtaining module, and the distance measuring information is subjected to exception filtering; the positioning module performs fusion processing on target information of the mobile device acquired at the same position in each piece of distance measurement information after abnormal filtering, the target information can be derived from at least one tag, and then the mobile device moved to the same position is positioned based on a fusion processing result, and the mobile device can be a mobile platform, a construction robot, or a combination device of the mobile platform and the construction robot, and the like. Above-mentioned device has effectively utilized each label to the unusual characteristic that has the difference of range finding that operation environmental disturbance brought, has reduced the unusual blind area of range finding of each label through the mode that fuses the range finding information after unusual filtration to each label, has solved the problem that the position that the construction robot who installs on moving platform exists loses at the operation in-process from this, has realized the effect of the accurate location of construction robot.
The positioning device provided by the embodiment of the invention can execute the positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the positioning apparatus, the included units and modules are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE five
Fig. 8 is a schematic structural diagram of a positioning system according to a fifth embodiment of the present invention, as shown in fig. 8, the positioning system includes a memory 510, a processor 520, an input device 530, and an output device 540. The number of processors 520 in the system may be one or more, and one processor 520 is taken as an example in fig. 8; the memory 510, processor 520, input device 530, and output device 540 in the system may be connected by a bus or other means, such as by bus 550 in fig. 8.
The memory 510 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning method in the embodiment of the present invention (for example, the obtaining module 410 and the positioning module 420 in the positioning apparatus). The processor 520 executes software programs, instructions and modules stored in the memory 510 to execute various functional applications of the system and data processing, so as to realize the positioning method.
The memory 510 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the system, and the like. Further, the memory 510 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 510 may further include memory located remotely from processor 520, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 530 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the device. The output device 540 may include a display device such as a display screen.
EXAMPLE six
A sixth embodiment of the present invention provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to perform a positioning method when executed by a computer processor, and the method is applicable to a positioning system, and the positioning system may include at least two communication groups, each communication group includes a tag and a base station, and each tag is disposed on a mobile device and belongs to a communication connection between the tag and the base station in the same communication group, and the method may include:
respectively acquiring the ranging information which is obtained by measurement of each communication group and is subjected to abnormal filtering;
and performing fusion processing on target information of the mobile device acquired at the same position in each ranging information, and positioning the mobile device moved to the same position based on the result of the fusion processing.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the positioning method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. With this understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A positioning method applied to a positioning system, wherein the positioning system includes at least two communication groups, each communication group includes a tag and a base station, each tag is disposed on a mobile device, and is affiliated to a communication connection between the tag and the base station in the same communication group, and the method includes:
respectively obtaining the ranging information which is obtained by the measurement of each communication group and is subjected to abnormal filtering;
and performing fusion processing on target information of the mobile device acquired at the same position in each piece of ranging information, and positioning the mobile device moved to the same position based on the result of the fusion processing.
2. The method according to claim 1, wherein the fusion process includes performing exception checking on each target information and selecting low-exception target information, and a result of the fusion process includes the low-exception target information.
3. The method of claim 2, wherein the exception checking comprises:
respectively determining the movement information of each corresponding label when the mobile device moves;
and performing secondary abnormal filtering on each target information according to each piece of movement information, and screening out the low abnormal target information from each target information according to the result of the secondary abnormal filtering.
4. The method according to claim 3, wherein the movement information includes a step length difference of the tags at previous and subsequent times, and the re-anomaly filtering includes comparing the step length difference of the two tags with a step length threshold value, and if the step length difference of one of the tags is greater than the step length threshold value, the target information of the other tag is taken as the low-anomaly target information.
5. The method of claim 1, wherein the range information after being filtered by the anomaly is obtained by:
acquiring current ranging information which is newly measured and obtained in the same communication group and historical ranging information which is measured before the current ranging information and is subjected to abnormal filtering and is in a preset quantity;
performing exception filtering on the current ranging information according to the numerical value statistical result between the current ranging information and each historical ranging information;
and taking the current ranging information which is retained after abnormal filtering and the historical ranging information except the historical ranging information which is obtained by the first measurement in the historical ranging information as the ranging information which is obtained after abnormal filtering in the same communication group.
6. The method of claim 5, further comprising:
increasing the abnormal times of distance measurement after the current distance measurement information is abnormally filtered;
when the distance measurement abnormal times reach a preset time threshold value, acquiring the distance measurement information to be judged of the preset number obtained by latest measurement, and performing steady state judgment on the distance measurement information to be judged;
and if the steady state judgment is successful, taking the ranging information to be judged as the historical ranging information.
7. The method according to claim 1, further comprising, after said separately obtaining the anomalous filtered ranging information measured by each of the communication groups:
acquiring an influence parameter of the ranging information in a measuring process, performing ranging compensation on the ranging information according to the influence parameter, and updating the ranging information according to a ranging compensation result;
the ranging compensation comprises original distance compensation and/or ranging error compensation, the original distance compensation compensates the ranging information and the ranging error, the ranging error is an error between the ranging information and real information corresponding to the ranging information, and the ranging error compensation compensates the ranging information and the real information or compensates the ranging information and the real information after the original distance compensation.
8. A positioning apparatus configured in a positioning system, wherein the positioning system includes at least two communication groups, each communication group includes a tag and a base station, each tag is disposed on a mobile apparatus, and is affiliated to a communication connection between the tag and the base station in the same communication group, and the apparatus includes:
the acquisition module is used for respectively acquiring the ranging information which is obtained by the measurement of each communication group and is subjected to the abnormal filtering;
and the positioning module is used for performing fusion processing on the target information of the mobile device acquired at the same position in each piece of ranging information and positioning the mobile device moved to the same position based on the result of the fusion processing.
9. A system, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the positioning method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the positioning method according to any one of claims 1-7.
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