CN103941231A - Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing - Google Patents

Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing Download PDF

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Publication number
CN103941231A
CN103941231A CN201410201966.1A CN201410201966A CN103941231A CN 103941231 A CN103941231 A CN 103941231A CN 201410201966 A CN201410201966 A CN 201410201966A CN 103941231 A CN103941231 A CN 103941231A
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node
nodes
mobile node
ultrasonic
anchor
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李建
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JIANGSU KUNYAN ELECTRONICS TECHNOLOGY CO., LTD.
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李建
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses an indoor positioning system and positioning method for ultrasound radio frequency signal combined processing. The indoor positioning system comprises three kinds of basic nodes which are anchor nodes, mobile nodes and display control nodes. The anchor nodes are fixed nodes with spatial positions known, the mobile nodes are active nodes with position coordinates needing to be determined in space, and the display control nodes display a system topological structure and node positioning results in real time and perform coordination control on the whole system. The anchor nodes and the mobile nodes perform contact by adopting radio frequency and ultrasonic signals, data processing is performed on received sound signals on the anchor nodes or the mobile nodes, spatial three-dimensional coordinates of the mobile nodes are solved, and system positioning results are finally displayed on the display control nodes. Compared with ultra-wideband radio frequency, WIFI radio frequency, video images and the like, the ultrasonic positioning system has the advantages of being prominent in performance, low in cost, high in privacy and free of electromagnetic pollution and is a first choice technology for indoor position services.

Description

The indoor locating system of ultrasonic radiofrequency signal Combined Treatment and localization method
Technical field
The present invention relates to a kind of system and its implementation that realizes indoor moving target localization based on ultrasonic radio frequency Combined Treatment, belong to supersonic sounding field of locating technology.
Background technology
Quick increase along with data service and multimedia service, people increase day by day to location and the demand of navigation, especially in complicated indoor environment, in the environment such as airport hall, exhibition room, warehouse, supermarket, library, underground parking, mine, usually need to determine that mobile terminal or its holder, facility and article are in indoor positional information.But be subject to the restriction of the conditions such as positioning time, positioning precision and complex indoor environment, fairly perfect location technology also cannot be utilized at present well.Therefore, experts and scholars have proposed many indoor positioning technical solutions, as A-GPS location technology, ultrasound wave location technology, Bluetooth technology, infrared technology, REID, super-broadband tech, WLAN, light track and localization technology, and graphical analysis, beacon location, computer vision location technology etc.These indoor positioning technology can be summarized as several classes on the whole, be GNSS technology (as pseudo satellite, pseudolite etc.), wireless location technology (wireless communication signals, wireless radiofrequency label, ultrasound wave, light tracking, wireless senser location technology etc.), other location technology (computer vision, dead reckoning etc.), and the location technology (A-GPS or A-GNSS) of GNSS and wireless location combination.
Consider the feature of indoor positioning, how improving positioning precision is the emphasis of research, and ultrasound wave location technology is because whole positioning precision is higher, simple in structure, and cost is relatively cheap, is the preferred option that realizes indoor hi-Fix.
Summary of the invention
The object of this invention is to provide a kind of indoor locating system and location implementing method thereof of processing based on rf ultrasound's combined signal.Anchor node and mobile node adopt radio frequency and ultrasonic signal to contact, on anchor node or mobile node, dock the signal that quiets down and carry out data processing, and move hi-Fix algorithm, calculate the 3 d space coordinate of mobile node, and finally on aobvious control node, the positioning result of system is shown.
In order to achieve the above object, the technical solution used in the present invention is:
An indoor locating system for ultrasonic radiofrequency signal Combined Treatment, is characterized in that, comprises three class fundamental nodes: anchor node, mobile node and aobvious control node;
Anchor node is fixed on indoor roof, is the known stationary nodes in locus, and between mobile node, adopts rf ultrasound's signal to contact;
Mobile node is the active node that needs to be determined position coordinates in space;
Between anchor node and mobile node, by transmitting-receiving ultrasonic signal, realize the location to mobile node;
On mobile node or aobvious control node, the ultrasonic signal receiving is carried out to data processing, computing is located, and calculates the 3 d space coordinate of mobile node.
Aobvious control node real-time display system topological structure and mobile node positioning result are also coordinated to control to whole system.
Aobvious control node comprises controller, processor, display, radio-frequency communication module, and controller control processor, display and radio-frequency communication module are carried out work.
Anchor node comprises controller, signal generator, ultrasound emission probe, radio-frequency communication module, and controller control signal generator, ultrasound emission probe and radio-frequency communication module are carried out work.
Mobile node comprises controller, processor, ultrasonic receiving transducer, radio-frequency communication module, and controller control processor, ultrasonic receiving transducer and radio-frequency communication module are carried out work.
Between each anchor node, by radio-frequency communication module, launch and accept synchronizing signal, synchronizing signal is radiofrequency signal.
Between anchor node and mobile node, work in synchronous mode or asynchronous mode.
Synchronous mode, the accurate location of target depends on the clock accurate synchronization between anchor node and mobile node.
Asynchronous mode, is meeting under the prerequisite of certain topological structure, and the accurate location of target does not rely on the clock accurate synchronization between anchor node and mobile node.
The localization method of the indoor locating system of ultrasonic radiofrequency signal Combined Treatment, is characterized in that, comprises following steps:
(1) at indoor roof, according to special topological structure, install and be no less than more than 4 anchor nodes, and the geographic coordinate of each anchor node of accurate calibration;
(2) between anchor node, use radiofrequency signal to carry out carrying out between also synchronous and mobile node the transmitting-receiving of ultrasonic signal;
(3) on mobile node or aobvious control node, carry out data processing, operation location algorithm, draw positioning result;
(4) on aobvious control node, carry out positioning result demonstration.
Location algorithm in step (3) adopts the sphere method of crossing to determine mobile node coordinate, and in the situation that using m anchor node, the position of a known roof m anchor node is respectively coordinate (x n, y n, z n), wherein, n=1,2,3,4 ... m, solves positions of mobile nodes P coordinate (x, y, z);
By transmitting-receiving position and oblique distance, obtain following spherical equation group:
( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 = r 1 2 - - - ( 1 )
( x 2 - x ) 2 + ( y 2 - y ) 2 + ( z 2 - z ) 2 = r 2 2 - - - ( 2 )
( x 3 - x ) 2 + ( y 3 - y ) 2 + ( z 3 - z ) 2 = r 3 2 - - - ( 3 )
( x 4 - x ) 2 + ( y 4 - y ) 2 + ( z 4 - z ) 2 = r 4 2 - - - ( 4 )
( x m - x ) 2 + ( y m - y ) 2 + ( z m - z ) 2 = r m 2 - - - ( m )
Utilize least square method to obtain following formula
x ^ y ^ z ^ = A - 1 B
Wherein, for the estimator of x, for the estimator of y, estimator for z.
The beneficial effect that the present invention reaches:
The present invention serves for indoor user provides the exact position of centimetre-sized and inferior centimeter order.System mainly forms by being fixed on the mobile node that anchor node on roof and indoor user carry.System adopts advanced wideband encoding, has not only improved positioning precision, and positioning service when can meet more than 1000 indoor user.System can be used for that market shopping navigation, museum guide, home for destitute are led and protected, high pay-off target follow-up service, ultrasonic mouse, ultrasonic pen, electronic whiteboard and Google glasses every sky, the application such as write.
The ultrasound positioning system of the present invention's design has the advantages such as performance is outstanding, with low cost, privacy is strong, no electromagnetic pollution than technology such as ultra-wide band radio-frequency, WIFI radio frequency, video images, be the one preferred technique of indoor positioning service.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of the aobvious control node of indoor locating system of the present invention.
Fig. 2 is the structural representation of the anchor node of indoor locating system of the present invention.
Fig. 3 is the structural representation of the mobile node of indoor locating system of the present invention.
Fig. 4 is the ultrasound emission process flow diagram of indoor locating system of the present invention.
Fig. 5 is the model framework chart of indoor locating system of the present invention.
Fig. 6 be described in embodiments of the invention 1 on give the operation mode location schematic diagram of knocking off.
Fig. 7 is that the operation mode of knocking off that issues described in embodiments of the invention 2 is located schematic diagram;
Fig. 8 is indoor locating system schematic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.Following examples are only for technical scheme of the present invention is more clearly described, and can not limit the scope of the invention with this.
As shown in Figure 8, system consists of three class fundamental nodes: anchor node (transmitter), mobile node (receiver) and aobvious control node (display terminal).Anchor node is fixed on indoor roof, it is the known stationary nodes in locus, and between mobile node, adopt rf ultrasound's signal to contact, mobile node is the active node that needs to be determined position coordinates in space, and aobvious control node real-time display system topological structure and node locating result are also coordinated to control to whole system.
Described aobvious control node is comprised of controller, processor, display, radio-frequency communication module etc., and as shown in Figure 1, controller control processor, display and radio-frequency communication module are carried out work.
Described anchor node is comprised of controller, signal generator, ultrasound emission probe, radio-frequency communication module etc., and as shown in Figure 2, controller control signal generator, ultrasound emission probe and radio-frequency communication module are carried out work.
Described mobile node is comprised of controller, processor, ultrasonic receiving transducer, radio-frequency communication module etc., and as shown in Figure 3, controller control processor, ultrasonic receiving transducer and radio-frequency communication module are carried out work.
Between each anchor node, by radio-frequency communication module, launch and accept synchronizing signal, synchronizing signal is radiofrequency signal.
Between described anchor node and mobile node, can work in two kinds of patterns: synchronous mode and asynchronous mode.
Under described synchronous working pattern, the accurate location of target depends on the clock accurate synchronization between anchor node and mobile node.
Described asynchronous work mode, is meeting under the prerequisite of certain topological structure, and the accurate location of target does not rely on the clock accurate synchronization between anchor node and mobile node.
Between described anchor node and mobile node, by receiving and dispatching ultrasonic signal between ultrasound emission probe separately, realize the location to mobile node.
On anchor node or mobile node, dock the signal that quiets down and carry out data processing, and move hi-Fix algorithm, calculate the 3 d space coordinate of mobile node.
Aobvious control node real-time display system topological structure based on pc machine and node locating result are also coordinated to control to whole system.
The localization method of the indoor locating system of ultrasonic radiofrequency signal Combined Treatment, comprises the following steps:
(1) at indoor roof, according to special topological structure, install and be no less than more than 4 anchor nodes, and the geographic coordinate of each anchor node of accurate calibration;
(2) between each anchor node, use radiofrequency signal to carry out carrying out between also synchronous and mobile node the transmitting-receiving of ultrasonic signal;
(3) on mobile node or aobvious control node, carry out data processing, operation location algorithm, draw positioning result;
(4) on aobvious control node, carry out positioning result demonstration.
Wherein, the location algorithm in step (3) adopts the sphere method of crossing to determine mobile node coordinate, and take in the situation that using four anchor nodes is example, and the position of known roof four anchor node a, b, c and d is respectively coordinate (x n, y n, z n), n=1,2,3,4, form a square, the square length of side can be determined by measuring accuracy.Solve ground mobile nodes position P coordinate (x, y, z).
By transmitting-receiving position and oblique distance, obtain following spherical equation group:
( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 = r 1 2 - - - ( 1 )
( x 2 - x ) 2 + ( y 2 - y ) 2 + ( z 2 - z ) 2 = r 2 2 - - - ( 2 )
( x 3 - x ) 2 + ( y 3 - y ) 2 + ( z 3 - z ) 2 = r 3 2 - - - ( 3 )
( x 4 - x ) 2 + ( y 4 - y ) 2 + ( z 4 - z ) 2 = r 4 2 - - - ( 4 )
By (2), (3) and (4), deduct respectively (1), utilize least square method to obtain following formula
x ^ y ^ z ^ = A - 1 B - - - ( 5 )
Wherein, for the estimator of x, all the other in like manner, for the estimator of y, estimator for z.
A = 2 x 2 - x 1 y 2 - y 1 z 2 - z 1 x 3 - x 1 y 3 - y 1 z 3 - z 1 x 4 - x 1 y 4 - y 1 z 4 - z 1
B = d 2 - d 1 + r 1 2 - r 2 2 d 3 - d 1 + r 1 2 - r 3 2 d 4 - d 1 + r 1 2 - r 4 2
d n = x n 2 + y n 2 + z n 2 , n = 1,2,3,4 .
Embodiment 1
Anchor node described in the invention and mobile node all can carry out the transmitting-receiving of radio frequency and ultrasonic signal, realize: above give receipts type working method and issue receipts type working method therefore the location of mobile node realizes adopting in two ways.
Now, giving and receiving working method is example, above gives receipts type system location schematic diagram as shown in Figure 6.
On give that to receive the mobile node number of working method unrestricted, as long as each mobile node is at least received 4 roof anchor nodes transmitting acoustical signals simultaneously.
Mobile node can be positioned oneself, if need others to know its position, should use communication link and the external world to establish the link.
In system, there are two kinds of links: radio frequency link and acoustic link.
Radio frequency link is present between all nodes such as anchor node, mobile node and aobvious control node.Can be applicable to anchor node, mobile node and aobvious control internodal synchronous, also be responsible for No. ID of anchor node and volume coordinate communication to mobile node, need system topology and positioning result to feed back to aobvious control node simultaneously, realize the functions such as demonstration, control of system positioning result.
Acoustic link is present between anchor node and mobile node, and can only send out ultrasonic signal to mobile node (giving receipts type) from anchor node.
Mobile node receives the ultrasonic signal of anchor node, carries out data processing and utilize processor operation location algorithm under controller is controlled, and resolves self spatial value.
If system needs, the positioning result of mobile node can be issued aobvious control node by radio frequency link.
Embodiment 2
Now take that to issue upper receipts working method be example, issue receipts type system location schematic diagram as shown in Figure 7.
The mobile node number that issues receipts working method depends on the coded system that system adopts.
Mobile node is only launched location acoustical signal, and data processing and location computing complete by showing control node.
In system, there are two kinds of links: radio frequency link and acoustic link.
Radio frequency link is present between all nodes such as anchor node, mobile node and aobvious control node.Can be applicable to anchor node, mobile node and aobvious control internodal synchronous, be also responsible for anchor node and show communicating by letter between control node, the ultrasonic signal that mobile node is sent carries out preliminary data processing through anchor node and submits aobvious control node to by radio frequency link.
Acoustic link is present between anchor node and mobile node, and can only send out ultrasonic signal to anchor node (receipts type issuing) from mobile node.
Anchor node receives the ultrasonic signal of mobile node, records the time of reception and will receive ultrasonic signal rough handling and submit aobvious control node to by radio frequency link, realizes the location computing of mobile node on aobvious control node.
Aobvious control node carries out system topology demonstration and mobile node positioning result shows, if mobile node needs, positioning result can be issued mobile node by radio frequency link.
Issue mobile node function in receipts type system and greatly simplify, only launch ultrasonic signal, so system cost can significantly reduce, when number of users increases, the low cost because of mobile node significantly be reduced to system cost.
Embodiment 3
Fig. 4 provides ultrasound emission block diagram, and numerical portion mainly comprises that digitally encoded signal generates, coded pulse shaping and coded signal are modulated three parts.The digital waveform producing can be stored in register regularly to be launched by controller.
Select Gold sequence as baseband signal.
Gold sequence has optimum ambiguity function characteristic-drawing pin shape as broadband pseudo-random noise signal, i.e. optimum distance estimations precision and velocity estimation precision, and respectively by signal bandwidth B and pulse width T Independent Decisiveness, that is:
Range resolution:
Velocity resolution:
Need only ultrasound emission transducer frequency response (smooth and broadband) and allow, range resolution just can further obtain lifting by increasing transmitted signal bandwidth.Velocity resolution is relevant with pulse width, and pulsewidth is larger, and velocity resolution is higher.No matter be bandwidth or pulsewidth, can distinguish independent control, this Decoupled provides great dirigibility for code Design.
Gold sequence addressing capability is strong, distinguish different user, each user distributes to a specific pseudo noise sequence, in order to suppress a plurality of users, shares the cochannel that same channel causes and disturbs, and requires the cross-correlation coefficient of the pseudo noise sequence that different user uses as far as possible little.This has benefited from the orthogonality of Gold sequence: between identical Gold sequence, there is good correlativity, and substantially uncorrelated between different Gold sequence.
Gold sequence generally by M sequence preference to generating by XOR.The present invention adopts balanceable Gold sequence as baseband signal, effective suppressed carrier power, thus improve coded excitation efficiency.
Baseband signal is all generally the square wave that-1 and+1 bipolar code forms, and is not suitable for direct transmitting, therefore before transmitting, needs to carry out the utilization factor that shaping pulse makes it be beneficial to transmitting and transmission and improve frequency spectrum.
By shaping pulse filtering technique, the frequency spectrum of transmitted signal is processed specially, make it eliminate intersymbol interference (ISI) and carry out under the prerequisite of optimum detection, compressed signal frequency band, the utilization factor of raising frequency spectrum.
Shaping pulse filtering technique can be chosen in base band and carry out.
Baseband signal often includes more low-frequency component, even have flip-flop, and many channels and transducer can not transmit and transmitting baseband signal.In order to address this problem, just must modulate to baseband signal (modulation).The present invention has adopted BPSK modulation system, and baseband signal actual in system is all bipolar code ,+1 correspondence-1,0 correspondence+1.
Digital waveform after modulation, after high-quality digital to analog converter, then carries out signal amplification and bandpass filtering, guarantees the high-fidelity that transmits.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and distortion, these improvement and distortion also should be considered as protection scope of the present invention.

Claims (10)

1. an indoor locating system for ultrasonic radiofrequency signal Combined Treatment, is characterized in that, comprises three class fundamental nodes: anchor node, mobile node and aobvious control node;
Anchor node is fixed on indoor roof, is the known stationary nodes in locus, and between mobile node, adopts rf ultrasound's signal to contact;
Mobile node is the active node that needs to be determined position coordinates in space;
Between anchor node and mobile node, by transmitting-receiving ultrasonic signal, realize the location to mobile node;
On mobile node or aobvious control node, the ultrasonic signal receiving is carried out to data processing, computing is located, and calculates the 3 d space coordinate of mobile node.
Aobvious control node real-time display system topological structure and mobile node positioning result are also coordinated to control to whole system.
2. the indoor locating system of ultrasonic radiofrequency signal Combined Treatment according to claim 1, it is characterized in that: aobvious control node comprises controller, processor, display, radio-frequency communication module, and controller control processor, display and radio-frequency communication module are carried out work.
3. the indoor locating system of ultrasonic radiofrequency signal Combined Treatment according to claim 1, it is characterized in that: anchor node comprises controller, signal generator, ultrasound emission probe, radio-frequency communication module, controller control signal generator, ultrasound emission probe and radio-frequency communication module are carried out work.
4. the indoor locating system of ultrasonic radiofrequency signal Combined Treatment according to claim 1, it is characterized in that: mobile node comprises controller, processor, ultrasonic receiving transducer, radio-frequency communication module, controller control processor, ultrasonic receiving transducer and radio-frequency communication module are carried out work.
5. the indoor locating system of ultrasonic radiofrequency signal Combined Treatment according to claim 3, is characterized in that: between each anchor node, by radio-frequency communication module, launch and accept synchronizing signal, synchronizing signal is radiofrequency signal.
6. the indoor locating system of ultrasonic radiofrequency signal Combined Treatment according to claim 1, is characterized in that: between anchor node and mobile node, work in synchronous mode or asynchronous mode.
7. the indoor locating system of ultrasonic radiofrequency signal Combined Treatment according to claim 6, is characterized in that: synchronous mode, the accurate location of target depends on the clock accurate synchronization between anchor node and mobile node.
8. the indoor locating system of ultrasonic radiofrequency signal Combined Treatment according to claim 6, it is characterized in that: asynchronous mode, meeting under the prerequisite of certain topological structure, the accurate location of target does not rely on the clock accurate synchronization between anchor node and mobile node.
9. the localization method of the indoor locating system of ultrasonic radiofrequency signal Combined Treatment according to claim 1, is characterized in that, comprises following steps:
(1) at indoor roof, according to special topological structure, install and be no less than more than 4 anchor nodes, and the geographic coordinate of each anchor node of accurate calibration;
(2) between anchor node, use radiofrequency signal to carry out carrying out between also synchronous and mobile node the transmitting-receiving of ultrasonic signal;
(3) on mobile node or aobvious control node, carry out data processing, operation location algorithm, draw positioning result;
(4) on aobvious control node, carry out positioning result demonstration.
10. the indoor orientation method of ultrasonic radiofrequency signal Combined Treatment according to claim 9, it is characterized in that, location algorithm in step (3) adopts the sphere method of crossing to determine mobile node coordinate, in the situation that using m anchor node, the position of a known roof m anchor node is respectively coordinate (x n, y n, z n), wherein, n=1,2,3,4 ... m, solves positions of mobile nodes P coordinate (x, y, z);
By transmitting-receiving position and oblique distance, obtain following spherical equation group:
( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 = r 1 2 - - - ( 1 )
( x 2 - x ) 2 + ( y 2 - y ) 2 + ( z 2 - z ) 2 = r 2 2 - - - ( 2 )
( x 3 - x ) 2 + ( y 3 - y ) 2 + ( z 3 - z ) 2 = r 3 2 - - - ( 3 )
( x 4 - x ) 2 + ( y 4 - y ) 2 + ( z 4 - z ) 2 = r 4 2 - - - ( 4 )
( x m - x ) 2 + ( y m - y ) 2 + ( z m - z ) 2 = r m 2 - - - ( m )
Utilize least square method to obtain following formula
x ^ y ^ z ^ = A - 1 B
Wherein, for the estimator of x, for the estimator of y, for the estimator of z, in formula, middle parameter A, B are as follows:
A = 2 x 1 - x 1 y 2 - y 1 z 2 - z 1 x 3 - x 1 y 3 - y 1 z 3 - z 1 x 4 - x 1 y 4 - y 1 z 4 - z 1 . . . . . . . . . x m - x 1 y m - y 1 z m - z 1
B = d 2 - d 1 + r 1 2 - r 2 2 d 3 - d 1 + r 1 2 - r 3 2 d 4 - d 1 + r 1 2 - r 4 2 · · · d m - d 1 + r 1 2 - r m 2
wherein, n=1,2,3,4 ... m.
CN201410201966.1A 2014-05-13 2014-05-13 Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing Pending CN103941231A (en)

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