Development Of A High-Precision Image Beacon Positioning System For Wireless Positioning Accuracy Measurement

With the rapid development of intelligent equipment and information technology,the development of wireless positioning technology is also changing with each passing day.As a positioning technology,its positioning accuracy has naturally attracted much attention.However,the accuracy measurement of wireless positioning technology is still more manual operation measurement.Aiming at the problems of complex operation and large amount of data recorded in wireless positioning accuracy measurement,indirect measurement of wireless positioning by using visual positioning system with higher accuracy and more continuous data has become an effective way to solve the above problems.In order to solve this problem,this paper has carried out the research on the indirect measurement of the accuracy of the wireless positioning system by using the visual positioning system with more restrictions,but it is convenient and more accurate.It provides more convenient and dynamic performance analysis for the research of wireless positioning system,and plays a positive role in the research and improvement of wireless positioning.In this thesis,a high-precision image beacon positioning system based on visual positioning is studied.The accuracy and performance of the wireless positioning system are dynamically measured by a high-precision and cost-controllable visual positioning system.The beacon with strong classification and high recognition rate is studied and designed.The binocular vision positioning system and UWB wireless positioning system are built.Finally,the accuracy of UWB wireless positioning system is recorded and analyzed by visual positioning system.The specific work of this thesis is as follows :Firstly,the problem of beacon localization based on binocular vision is studied.Based on the analysis and comparison of common visual positioning methods,this thesis studies and experiments the camera calibration method,and uses the parallax of the same target in the binocular camera to obtain three-dimensional information for visual positioning.Secondly,based on the binocular vision positioning system proposed in this thesis,a special beacon design scheme is proposed for the requirements of high beacon recognition rate,high positioning accuracy and unique ID.Using the color feature and geometric feature information of special beacons,2D beacon recognition with high accuracy,low hardware pressure and good real-time performance is realized,and performance comparison experiments are carried out with widely used Aruco beacons.Third,camera calibration technology is the basis of visual positioning.In this thesis,the camera imaging principle and camera calibration principle are introduced,and different camera calibration methods are analyzed and summarized.Finally,the camera calibration experiment is carried out by Zhang Zhengyou chessboard calibration method.The internal and external parameters and distortion coefficient of the camera are calculated by experiments.Fourthly,on the basis of camera calibration,this thesis expounds the principle of binocular vision positioning,and introduces the most basic stereo matching algorithm of binocular vision positioning,including stereo matching cost function,constraint conditions and algorithm classification.The stereo matching process is described for the SGBM algorithm used in this thesis.Fifth,on the basis of the binocular vision positioning system proposed in this thesis,the UWB wireless positioning system is built.The feasibility of the high-precision image beacon positioning system for the accuracy measurement of the wireless positioning system is verified by the experimental analysis of the synchronous operation of the two systems.