CN107566065A - TOF localization methods based on UWB - Google Patents
TOF localization methods based on UWB Download PDFInfo
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- CN107566065A CN107566065A CN201710741486.8A CN201710741486A CN107566065A CN 107566065 A CN107566065 A CN 107566065A CN 201710741486 A CN201710741486 A CN 201710741486A CN 107566065 A CN107566065 A CN 107566065A
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Abstract
The invention belongs to internet of things field, the TOF localization methods specially based on UWB, the position being distributed according to regional environment residing for mobile terminal to be positioned and UWB sensors, detection and localization model is established in host computer；According to the position of TOF distance measuring sensors, range measurement model is established in host computer；Label is positioned to the UWB on mobile terminal to be positioned to position, show the three-dimensional coordinate and real time position in region residing for mobile terminal to be positioned by TDOA algorithms；（4）UWB sensor base station locations are changed, using TOF distance measuring sensor measurement distances, re-scale UWB sensor three-dimensional coordinates；Again to mobile terminal location to be positioned.Present invention utilizes the advantage of UWB technology in itself, ensure that the precision of positioning, position error, and lasting carry out locating and tracking within a period of time is reduced, using the requirement for meeting dynamic positioning.Using TOF rangings accurately measurement distance, fast response time, error are small, it is small to be disturbed degree.
Description
Technical field
The invention belongs to internet of things field, the TOF localization methods specially based on UWB.
Background technology
Current target object localization method generally requires the cooperation of node known to position (anchor node) and network system,
Classified according to whether based on ranging, then including the targeting scheme based on distance and apart from unrelated targeting scheme.Based on away from
From targeting scheme be to be positioned by measuring actual range between adjacent node or orientation.Detailed process is divided into three ranks
Section：First stage is the ranging stage, and unknown node measures the distance or angle of adjacent node first, is then further calculated
To the distance or orientation of neighbouring beaconing nodes；Second stage is positioning stage, unknown node calculating up to three or
After the distance or angle of more than three beaconing nodes, surveyed using trilateration, triangulation or Maximum Likelihood Estimation Method
Measure the coordinate of nodes of locations；Phase III is the amendment stage, and the coordinate of the node to trying to achieve carries out refinement, improves positioning precision,
Reduce error.The method used in the positioning based on distance, during distance and bearing between measuring node had based on arrival time
(TOA), based on reaching time-difference (TDOA), based on received signal strength indicator (RSSI), based on angle of arrival (AOA) etc., because
The positioning of this distance can be divided into：Positioning based on TOA, the positioning based on TDOA, the positioning based on AOA and the positioning based on RSSI
Deng.Positioning based on distance can realize and be accurately positioned, but often high to the hardware requirement of wireless sensor node.Apart from unrelated
Targeting scheme without the absolute distance or orientation between measuring node, it utilizes the network topology of node, the connection between node
Property, to realize the positioning of node, the requirement of node hardware is which reduced, but the error positioned also accordingly increases.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of TOF localization methods based on UWB, improves the accuracy of positioning.
Specifically technical scheme is：
TOF localization methods based on UWB, dynamic positioning method, step are as follows：
（1）Multiple UWB base stations in region, are being set residing for mobile terminal to be positioned, and UWB base stations are provided with UWB sensors；
TOF distance measuring sensors are installed on UWB sensors；
There are three, respectively the first UWB base stations, the 2nd UWB base stations, the 3rd UWB base stations in described UWB base stations, wherein the first UWB
Base station is used as from base station as time source and master base station, the 2nd UWB base stations, the 3rd UWB base stations；
Mobile terminal to be positioned includes UWB positioning labels；UWB positioning label letters residing for mobile terminal to be positioned in region
Number at least received by two UWB sensors；
Coordinate system is established to the region residing for mobile terminal to be positioned, measures the three-dimensional seat of UWB sensors of each UWB base stations
Mark；
UWB sensors, TOF distance measuring sensors are connected according to system requirements, established a communications link with host computer, sets up local
Net；
（2）The first described UWB base stations send time synchronized letter to the 2nd UWB base stations, the 3rd UWB base stations and UWB positioning label
Breath, realize that the 2nd described UWB base stations, the 3rd UWB base stations and UWB positioning labels and the time of the first described UWB base stations are same
Step；
Described UWB positions label according to time slot type ALOHA algorithms, to the first UWB base stations, the 2nd UWB base stations and the 3rd UWB bases
Stand and send equipment of itself information；
The position being distributed according to regional environment residing for mobile terminal to be positioned and UWB sensors, establishes positioning in host computer
Detection model；According to the position of TOF distance measuring sensors, range measurement model is established in host computer；
（3）Described the first UWB base stations, the 2nd UWB base stations and the 3rd UWB base stations receives what described UWB positioning labels were sent
Equipment of itself information, and the information is uploaded to described host computer；By TDOA algorithms on mobile terminal to be positioned
UWB positioning labels are positioned, and show the three-dimensional coordinate and real time position in region residing for mobile terminal to be positioned；And by three-dimensional
Coordinate and real time position deposit Database Systems, draw the movement locus of mobile terminal to be positioned；
（4）UWB sensor base station locations are changed, using TOF distance measuring sensor measurement distances, re-scale UWB sensors three-dimensional
Coordinate；
（5）UWB sensors three-dimensional coordinate input detection and localization model will be re-scaled, mobile terminal to be positioned will be determined again
Position, repeat step（3）, until reaching default testing time or default testing time, terminate positioning.
Preferable design, step（3）Described positions label by TDOA algorithms to the UWB on mobile terminal to be positioned
Positioned, including：UWB sensors are positioned for UWB positioning labels using TDOA location algorithms to UWB positioning labels；
Three UWB sensors of measurement receive the time difference of same UWB positioning label signal, and thus calculate UWB positioning labels
To the range difference of different UWB sensors, calculated by range difference.
Further, step（3）Described is entered by TDOA algorithms to the UWB positioning labels on mobile terminal to be positioned
Row positioning, including：Described host computer receives described UWB according to the first described UWB base stations and the 2nd UWB base stations and positioned
The time for the equipment of itself information that label is sent calculates the first hyperbola, and described host computer is according to the 2nd described UWB base stations
The time that the equipment of itself information that described UWB positioning labels are sent is received with the 3rd UWB base stations calculates the second hyperbola, institute
The first hyperbola and the second hyperbola stated are met at a bit, further according to the first UWB base stations, the 2nd UWB base stations and the 3rd UWB base stations
Physical location, be calculated UWB positioning label three-dimensional coordinate.
Ultra wide band (UWB, UltraWideBand) communication comes from the formal art of U.S. Department of Defense's nineties in last century earliest
Language, it is primarily used to the radiotechnics of Unify legislation pulse ultra-broad band transmission information.Its occupied bandwidth is very big, has transmission speed
The features such as rate is high, power system capacity is big, cost is low, and power spectral density is extremely low, can with existing communication coexistence of systems, therefore as solution
Certainly hot zones high-peed connection demand and anxiety frequency spectrum resource between contradiction effective scheme.Super-broadband tech is adjusted without carrier wave
The characteristics of system and burst pulse, determines that UWB communications are simple with equipment, and penetration capacity is strong, and temporal resolution is strong, anti-multipath energy
The strong advantage of power, therefore positioning precision is high.IEEE802.15.4a standards are first precision ranging positioning that IEEE is proposed
Radio physical layer standard.There is shown the channel complete model of UWB indoor positionings, gives nine kinds of channel examples.In standard
Given communication protocol is also the standard followed required for UWB is positioned.Just because of the UWB communication technologys have system power dissipation it is low,
Impulse ejection is low in energy consumption, anti-multipath fading and anti-underground interference performance are strong, system architecture is simple and networking is easily and easily real
Existing multifunctional all, is especially suitable for the trend that underground communica tion, monitoring and alignment system gradually combine together.
By the propagation time of wireless signal come the distance between measuring node, it is to reach time delay with multipath to estimate for TOF rangings
Based on meter is theoretical, the characteristics of UWB signal temporal resolution is high is best embodied out.Electromagnetic wave is the energy used in TOF rangings
Ripple is measured, range measurement principle is：Sending node sends signal, after receiving node receives the signal, will include the phases such as time parameter
Data message is closed back to sending node.
TOF localization methods provided by the invention based on UWB, UWB sensors are positioned in real time to mobile terminal, are utilized
The advantage of UWB technology in itself, its high bandwidth, low-power consumption, strong antijamming capability, transmission rate is high, the availability of frequency spectrum is high, system
The features such as capacity is big, multi-path resolved rate is high, ensure that the precision of positioning, reduce position error, and lasting within a period of time
Locating and tracking is carried out, using the requirement for meeting dynamic positioning.Using TOF rangings not only can accurately measurement distance, while its
Also have the characteristics that fast response time, error are small, it is small to be disturbed degree.
Brief description of the drawings
Fig. 1 is the overview flow chart of the present invention.
Embodiment
It is described in conjunction with the embodiments the concrete technical scheme of the present invention：
As shown in figure 1, the TOF localization methods based on UWB, dynamic positioning method, step are as follows：
（1）Multiple UWB base stations in region, are being set residing for mobile terminal to be positioned, and UWB base stations are provided with UWB sensors；
TOF distance measuring sensors are installed on UWB sensors；
There are three, respectively the first UWB base stations, the 2nd UWB base stations, the 3rd UWB base stations in described UWB base stations, wherein the first UWB
Base station is used as from base station as time source and master base station, the 2nd UWB base stations, the 3rd UWB base stations；
Mobile terminal to be positioned includes UWB positioning labels；UWB positioning label letters residing for mobile terminal to be positioned in region
Number at least received by two UWB sensors；
Coordinate system is established to the region residing for mobile terminal to be positioned, measures the three-dimensional seat of UWB sensors of each UWB base stations
Mark；
UWB sensors, TOF distance measuring sensors are connected according to system requirements, established a communications link with host computer, sets up local
Net；
（2）The first described UWB base stations send time synchronized letter to the 2nd UWB base stations, the 3rd UWB base stations and UWB positioning label
Breath, realize that the 2nd described UWB base stations, the 3rd UWB base stations and UWB positioning labels and the time of the first described UWB base stations are same
Step；
Described UWB positions label according to time slot type ALOHA algorithms, to the first UWB base stations, the 2nd UWB base stations and the 3rd UWB bases
Stand and send equipment of itself information；
The position being distributed according to regional environment residing for mobile terminal to be positioned and UWB sensors, establishes positioning in host computer
Detection model；According to the position of TOF distance measuring sensors, range measurement model is established in host computer；
（3）Described the first UWB base stations, the 2nd UWB base stations and the 3rd UWB base stations receives what described UWB positioning labels were sent
Equipment of itself information, and the information is uploaded to described host computer；By TDOA algorithms on mobile terminal to be positioned
UWB positioning labels are positioned, and show the three-dimensional coordinate and real time position in region residing for mobile terminal to be positioned；And by three-dimensional
Coordinate and real time position deposit Database Systems, draw the movement locus of mobile terminal to be positioned.
UWB sensors are positioned for UWB positioning labels using TDOA location algorithms to UWB positioning labels；Measurement three
Individual UWB sensors receive the time difference of same UWB positioning label signal, and thus calculate UWB and position label to difference
The range difference of UWB sensors, is calculated by range difference.
Specifically, described host computer receives described UWB according to the first described UWB base stations and the 2nd UWB base stations
The time for positioning the equipment of itself information that label is sent calculates the first hyperbola, and described host computer is according to the 2nd described UWB
The time that base station and the 3rd UWB base stations receive the equipment of itself information that described UWB positioning labels are sent calculates the second hyperbolic
Line, the first described hyperbola and the second hyperbola are met at a bit, further according to the first UWB base stations, the 2nd UWB base stations and the 3rd
The physical location of UWB base stations, the three-dimensional coordinate of UWB positioning labels is calculated.
（4）UWB sensor base station locations are changed, using TOF distance measuring sensor measurement distances, re-scale UWB sensors
Three-dimensional coordinate；
（5）UWB sensors three-dimensional coordinate input detection and localization model will be re-scaled, mobile terminal to be positioned will be determined again
Position, repeat step（3）, until reaching default testing time or default testing time, terminate positioning.
Claims (3)
1. the TOF localization methods based on UWB, it is characterised in that：Dynamic positioning method, step are as follows：
（1）Multiple UWB base stations in region, are being set residing for mobile terminal to be positioned, and UWB base stations are provided with UWB sensors；
TOF distance measuring sensors are installed on UWB sensors；
There are three, respectively the first UWB base stations, the 2nd UWB base stations, the 3rd UWB base stations in described UWB base stations, wherein the first UWB
Base station is used as from base station as time source and master base station, the 2nd UWB base stations, the 3rd UWB base stations；
Mobile terminal to be positioned includes UWB positioning labels；UWB positioning label letters residing for mobile terminal to be positioned in region
Number at least received by two UWB sensors；
Coordinate system is established to the region residing for mobile terminal to be positioned, measures the three-dimensional seat of UWB sensors of each UWB base stations
Mark；
UWB sensors, TOF distance measuring sensors are connected according to system requirements, established a communications link with host computer, sets up local
Net；
（2）The first described UWB base stations send time synchronized letter to the 2nd UWB base stations, the 3rd UWB base stations and UWB positioning label
Breath, realize that the 2nd described UWB base stations, the 3rd UWB base stations and UWB positioning labels and the time of the first described UWB base stations are same
Step；
Described UWB positions label according to time slot type ALOHA algorithms, to the first UWB base stations, the 2nd UWB base stations and the 3rd UWB bases
Stand and send equipment of itself information；
The position being distributed according to regional environment residing for mobile terminal to be positioned and UWB sensors, establishes positioning in host computer
Detection model；According to the position of TOF distance measuring sensors, range measurement model is established in host computer；
（3）Described the first UWB base stations, the 2nd UWB base stations and the 3rd UWB base stations receives what described UWB positioning labels were sent
Equipment of itself information, and the information is uploaded to described host computer；By TDOA algorithms on mobile terminal to be positioned
UWB positioning labels are positioned, and show the three-dimensional coordinate and real time position in region residing for mobile terminal to be positioned；And by three-dimensional
Coordinate and real time position deposit Database Systems, draw the movement locus of mobile terminal to be positioned；
（4）UWB sensor base station locations are changed, using TOF distance measuring sensor measurement distances, re-scale UWB sensors three-dimensional
Coordinate；
（5）UWB sensors three-dimensional coordinate input detection and localization model will be re-scaled, mobile terminal to be positioned will be determined again
Position, repeat step（3）, until reaching default testing time or default testing time, terminate positioning.
A kind of 2. dynamic positioning method combined based on UWB with laser ranging according to claim 1, it is characterised in that：
Step（3）Described is positioned by TDOA algorithms to the UWB positioning labels on mobile terminal to be positioned, including： UWB
Sensor is positioned for UWB positioning labels using TDOA location algorithms to UWB positioning labels；Measure three UWB sensors
The time difference of same UWB positioning label signal is received, and thus calculates UWB and positions label to different UWB sensors
Range difference, calculated by range difference.
A kind of 3. dynamic positioning method combined based on UWB with laser ranging according to claim 2, it is characterised in that：
Step（3）Described is positioned by TDOA algorithms to the UWB positioning labels on mobile terminal to be positioned, including：It is described
Host computer itself set according to what the first described UWB base stations and the 2nd UWB base stations received that described UWB positioning labels send
The time of standby information calculates the first hyperbola, and described host computer receives according to the 2nd described UWB base stations and the 3rd UWB base stations
The time of the equipment of itself information sent to described UWB positioning label calculates the second hyperbola, the first described hyperbola and
Second hyperbola is met at a bit, further according to the physical location of the first UWB base stations, the 2nd UWB base stations and the 3rd UWB base stations, is calculated
Draw the three-dimensional coordinate of UWB positioning labels.
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