US Patent No. 10,397,895

RANGE FINDING BASE STATION SELECTION METHOD AND APPARATUS


Patent No. 10,397,895
Issue Date August 27, 2019
Title Range Finding Base Station Selection Method And Apparatus
Inventorship Youjun Xiong, Shenzhen (CN)
Yongsheng Zhao, Shenzhen (CN)
Zhichao Liu, Shenzhen (CN)
Assignee UBTECH Robotics Corp, Shenzhen (CN)

Claim of US Patent No. 10,397,895

1. A computer-implemented range finding base station selection method for a wireless positioning system, wherein the wireless positioning system comprises a server, a plurality of base stations, and one or more tags communicating with each other in a wireless manner, the method comprising executing on a processor of the server in the wireless positioning system the steps of:obtaining a first base station group, wherein the first base station group comprises a plurality of base stations have been successfully finding range with respect to a pending tag;
determining whether a first distance between every two base stations in the first base station group being less than a first preset value, and discarding any one of the two base stations in the first base station group having the first distance less than the first preset value to obtain a second base station group;
determining whether horizontal projections of every three base stations in the second base station group are in a straight line, in response to an amount of the base stations in the second base station group being not less than a first preset base station amount, and discarding any one of the three base stations in the second base station group having the horizontal projections in the straight line to obtain a third base station group;
obtaining a second distance of each base station in the third base station group to the pending tag, in response to an amount of the base stations in the third base station group being not less than the first preset base station amount, and discarding any one of the base stations in the third base station group having an absolute value of a difference between the second distance and a pie-stored third distance exceeding a first preset range to obtain a fourth base station group wherein the pre-stored third distance is a distance of the base station to the pending tag in a previous frame;
obtaining a predicted distance of each base station in the fourth base station group to a predicted coordinate of the pending tag in a current frame based on the predicted coordinate and obtaining a real distance of each base station in the fourth base station group to a real coordinate of the pending tag in the current frame based on the real coordinate, in response to an amount of the base stations in the fourth base station group being not less than the first preset base station amount;
discarding any one of the base stations in the fourth base station group having an absolute value of a difference between the predicted distance and the real distance being exceeding a second preset range to obtain a fifth base station group; and
determining the base stations in the fifth base station group as range finding base stations for positioning the pending tag, in response to an amount of the base stations in the fifth base station group being equal to the first preset base station amount.