CN108112070B - Time synchronization method in UWB (ultra wide band) unidirectional positioning system - Google Patents

Time synchronization method in UWB (ultra wide band) unidirectional positioning system Download PDF

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CN108112070B
CN108112070B CN201711442974.5A CN201711442974A CN108112070B CN 108112070 B CN108112070 B CN 108112070B CN 201711442974 A CN201711442974 A CN 201711442974A CN 108112070 B CN108112070 B CN 108112070B
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CN108112070A (en
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张涛
姚宜斌
邹进贵
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Wuhan University WHU
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/0055—Synchronisation arrangements determining timing error of reception due to propagation delay
    • H04W56/0065—Synchronisation arrangements determining timing error of reception due to propagation delay using measurement of signal travel time
    • H04W56/007—Open loop measurement
    • H04W56/0075—Open loop measurement based on arrival time vs. expected arrival time
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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Abstract

The invention provides a time synchronization method in a UWB one-way positioning system, which lays anchor points of a plurality of known positions in a positioning range and is characterized in that: a reference point with a known position is arranged in a positioning range, UWB equipment placed on the reference point has a signal transmitting function, UWB equipment placed on an anchor point has a signal receiving and transmitting function, and the UWB equipment at the positioning label only needs to have a signal receiving function; and calculating the propagation time difference of the electromagnetic waves between each anchor point and the positioning label through measurement, and obtaining the coordinates of the positioning label based on the time difference of each two anchor points reaching the positioning label. When the invention is applied, the capacity of the positioning label can be infinitely expanded, meanwhile, the power consumption of the label is reduced, and the invention has simple integral structure and is easy to realize.

Description

Time synchronization method in UWB (ultra wide band) unidirectional positioning system
Technical Field
The invention belongs to a positioning technology, and relates to a positioning method based on UWB and TDOA technologies.
Background
The outdoor positioning technology is mature, and various GNSS devices in the market can meet various demands of different users from meter level to millimeter level. In fact, many industries place increasingly higher demands on indoor positioning technology, such as the internet of things industry, industrial plants, tourism industry, commercial sites, airports, fire fighting, public security, military, parking lots, medical, robots, unmanned planes, tunnel mines, etc. For indoor positioning, although various solutions exist at present, such as base station positioning, WIFI fingerprint positioning, ultrasonic positioning, bluetooth positioning, geomagnetic positioning, pseudolite positioning, UWB (Ultra-Wideband) positioning, and the like, due to technical limitations and cost problems, a mature product which enables users of different levels to be satisfied like GNSS positioning technology does not exist at present, and further, the technologies either cannot meet requirements for positioning accuracy, can only meet requirements of users of low accuracy, or have too high cost, and are difficult to popularize.
In the existing indoor positioning technical solutions which are used more, the UWB positioning result is the most accurate, and the anti-interference, anti-multipath and penetration performance of the UWB is obviously better than that of other technologies due to the propagation characteristics of the UWB, so that the UWB has a good development prospect. The basis of UWB positioning is to measure the propagation time of electromagnetic waves for ranging, and then further use the ranging results for positioning. The current method is to measure the flight time of the electromagnetic wave between the anchor point and the tag (sometimes, the relative direction between the anchor point and the tag is also measured) through a certain communication protocol, and the distance between the anchor point and the tag can be calculated due to the propagation speed of the electromagnetic wave in the air, namely the light speed. However, because the clock source of each anchor point and each tag usually adopts a temperature compensated crystal oscillator or even a common crystal oscillator, the clock deviation and clock drift problems exist, so that the time of each anchor point and each tag cannot be synchronized, and the currently adopted method is to eliminate the problem of clock asynchronization by controlling multiple communications between the anchor point and each tag, so as to obtain a more accurate ranging and positioning result. After the quantity of the labels and the anchor points is increased, the efficiency is sharply reduced, the positioning refresh rate is severely limited, and meanwhile, the power consumption of the labels is high, so that the practical application is hindered. Therefore, the unlimited increase of the number of the positioning tags can be realized only by changing the mode of bidirectional multi-time communication into one-way communication ranging, however, the current one-way communication ranging adopts a hardware time synchronization method, the hardware is extremely complex, the cost is too high, and the dependence on a time synchronization server is strong, so that the implementation is difficult.
Disclosure of Invention
The invention aims to solve the technical problem that clock differences among anchor points are eliminated by a reference point method, so that clocks among reference stations are logically synchronized, and high-precision passive positioning of a label is realized.
The invention provides a time synchronization method in a UWB one-way positioning system, a plurality of anchor points with known positions are arranged in a positioning range, reference points with known positions are arranged in the positioning range, UWB equipment arranged on the reference points has a signal transmitting function, UWB equipment arranged on the anchor points has a signal receiving and transmitting function, and the UWB equipment at the positioning label only needs to have a signal receiving function; calculating the electromagnetic wave propagation time difference between each anchor point and the positioning label through measurement, and obtaining the coordinate of the positioning label based on the time difference of each two anchor points reaching the positioning label; for the measurement calculation of the electromagnetic wave propagation time difference, the following operations are performed,
timing mark signals are sent out at regular time by the reference points;
each anchor point stores the propagation time T of the electromagnetic wave from the anchor point to a reference point(a,ref)And respective transmission delay times TdEach anchor point performs the following operations,
1) the anchor point state is set to be a signal receiving state;
2) when anchor point receives time mark signal, its own time system records time of receiving time mark signal, the value of said time is Ta+T(a,ref)And generating a positioning message, wherein the positioning message at least comprises the electromagnetic wave propagation time T from the anchor point to the reference point(a,ref)Transmission delay time T with the anchor pointdAnd the coordinates (Xa, Ya, Za) of the anchor point itself; wherein, TaThe time when the anchor point receives the time scale signal is subtracted by the electromagnetic wave propagation time T from the anchor point to the reference point(a,ref)That is, the time of the anchor point's own time system when the reference point sends out the time mark signal;
3) wait for TdAfter time, the anchor point state is set as a transmitting state, and then the positioning message is transmitted;
after the positioning label receives the positioning message, the time system of the positioning label records the time T of receiving the messaget+TrxWherein T isrx＝T(a,ref)+Td+T(tag,a)，T(tag,a)For the propagation time of electromagnetic waves from anchor point to location tag, TrxRepresenting the propagation time, T, of the time-scale signal from the reference point to the positioning tag via the anchor pointtThe time of positioning the time system of the label when the reference point sends out the time scale signal is represented; after decoding the positioning message, T is obtained(a,ref)And Td。
And, the measurement calculates the electromagnetic wave propagation time difference, which is implemented as follows,
two anchor points are respectively an anchor point n and an anchor point m, when the positioning label receives the positioning messages of the two anchor points, the following operations are carried out to solve the time synchronization problem between the anchor points and obtain the electromagnetic wave propagation time difference between each anchor point and the positioning label,
1) when receiving the positioning message sent by the anchor point n, recording the time T when the positioning message sent by the anchor point n reaches the positioning labelan_rx＝Tt+T(an,ref)+Tdn+T(tag,an)
Wherein, T(an,ref)、Tdn、T(tag,an)Respectively the propagation time of the electromagnetic wave from the anchor point n to the reference point, the waiting time of the anchor point n, the propagation time of the electromagnetic wave from the anchor point n to the positioning label, TtIndicating the moment when the reference point sends out the time scale signal to locate the tag's own time system,
then there is a change in the number of,
T(tag,an)＝Tan_rx–Tt–T(an,ref)–Tdn
2) when receiving the positioning message sent by the anchor point m, recording the time T when the positioning message sent by the anchor point m reaches the positioning labelam_rx＝Tt+T(am,ref)+Tdm+T(tag,am)
Wherein, T(am,ref)、Tdm、T(tag,am)Respectively the propagation time of the electromagnetic wave from the anchor point m to the reference point, the waiting time of the anchor point m, the propagation time of the electromagnetic wave from the anchor point m to the positioning label, TtIndicating the moment when the reference point sends out the time scale signal to locate the tag's own time system,
then there is a change in the number of,
T(tag,am)＝Tam_rx–Tt–T(am,ref)–Tdm
3) calculating the time difference of the electromagnetic wave from the anchor point n and the anchor point m to the positioning label Tag respectively as,
T(tag,an)–T(tag,am)＝Tan_rx–Tt–T(an,ref)–Tdn–(Tam_rx–Tt–T(am,ref)–Tdm)
＝Tan_rx–Tam_rx–T(an,ref)–Tdn+T(am,ref)+Tdm
wherein, Tan_rx、Tam_rxAll obtained by recording the arrival time of the positioning message by the positioning label, and T(an,ref)、Tdn、T(am,ref)、TdmAre all contained in the positioning message, hence T(tag,an)–T(tag,am)The time difference of the electromagnetic wave arriving at the positioning Tag from the anchor point n and the anchor point m, respectively, is obtained.
When the invention is applied, the capacity of the positioning label can be infinitely expanded, meanwhile, the power consumption of the label is reduced, and the invention has simple integral structure and is easy to realize. The method is not only suitable for all positioning systems adopting the electromagnetic wave propagation characteristic for ranging, but also has wide universality.
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FIG. 1 is a schematic diagram of a system configuration according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a time difference relationship according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following by combining the drawings and the embodiment.
Referring to fig. 1, the method adopted by the embodiment of the present invention is:
in the positioning range, besides arranging a certain number of anchor points 1 with known positions, reference points 2 with known positions are arranged. The UWB equipment of placing on the reference point possesses the signal transmission function, and the UWB equipment of placing on the anchor point possesses and accepts and the signal transmission function, and the UWB equipment of location label 3 only need the received signal can, need not the transmission. The arrangement number of the anchor points 1 has the minimum requirement, if two-dimensional coordinate positioning is carried out, at least three anchor points are needed, and if three-dimensional coordinate positioning is carried out, at least four anchor points are needed. To ensure coverage of the positioning area and to improve positioning accuracy, the number of anchor points usually deployed is higher than this minimum required number. Only one reference point is needed in one positioning area, and if one reference point cannot communicate with all anchor points due to occlusion and attenuation problems, the reference point needs to be increased. The number of the positioning labels is increased by a user according to needs, and the number of the positioning labels is not limited and can be increased infinitely because the passive positioning is adopted.
1, each reference point, each anchor point and each positioning label have their own time system, which is Tr,Ta，jAnd Tt，kJ is the anchor point number and k is the positioning label number.
And 2, sending a time scale signal at regular time by the reference point, wherein the higher the frequency is, the higher the positioning refresh rate of the system is, but the signal processing speed of the anchor point is considered, and a certain margin is reserved. According to the different selected communication rates and the different lengths of the messages, the time scale signal transmission rate can be preferably selected from 0.1Hz to 1000 Hz;
3, each anchor point stores the propagation time T of the electromagnetic wave from the anchor point to a reference point(a,ref)And respective transmission delay times TdSince the coordinates of the anchor point and the reference point are known, T can be directly calculated in advance according to the light velocity formula(a,ref). Setting a transmission delay time TdThe method has the advantages that after anchor points receive time mark signals, positioning messages are sent after a period of time delay, and the delay time of each anchor point is staggered so as to avoid message loss caused by collision;
each anchor point performs the following operations:
1) the anchor point state is set to be a signal receiving state;
2) when anchor point receives time mark signal, its own time system records time of receiving time mark signal, the value of said time is Ta+T(a,ref)And generating a positioning message, wherein the message at least comprises the electromagnetic wave propagation time T from the anchor point to the reference point(a,ref)Transmission delay time T with the anchor pointdAnd the coordinates (Xa, Ya, Za) of the anchor point itself; wherein, TaThe time when the anchor point receives the time scale signal is subtracted by the electromagnetic wave propagation time T from the anchor point to the reference point(a,ref)That is, the time of the anchor point's own time system when the reference point sends out the time mark signal;
3) at wait TdAfter the time, the anchor point state is set as the transmitting state, and then the positioning message is transmitted.
4, after the message is received by the positioning label, the time T of receiving the message is recorded by the time system of the positioning labelt+TrxWherein T isrx＝T(a,ref)+Td+T(tag,a)，T(tag,a)For the propagation time of electromagnetic waves from anchor point to location tag, TrxRepresenting the propagation time, T, of the time-scale signal from the reference point to the positioning tag via the anchor pointtIndicating the moment when the reference point sends out the time scale signal to locate the tag's own time system.
After decoding the positioning message, T can be obtained(a,ref)And Td。
5, assuming that there are two anchor points, anchor point n and anchor point m, respectively, as shown in FIG. 2, the reference point is at the time T of its own time systemtSending out a time mark signal, wherein the time of the time system of the anchor point n is TanTime of the time system of anchor point m is TamThe time of the time system for locating the tag is Tt. After the positioning tag receives the positioning messages of the two anchor points, the following operations are executed to solve the time synchronization problem between the anchor points so as to obtain the electromagnetic wave propagation time difference between each anchor point and the positioning tag, and therefore the coordinate of the positioning tag can be further obtained through a TDOA algorithm:
1) when receiving the positioning message sent by the anchor point n, recording the time when the positioning message sent by the anchor point n reaches the positioning label:
Tan_rx＝Tt+T(an,ref)+Tdn+T(tag,an)
wherein, T(an,ref)、Tdn、T(tag,an)Respectively the propagation time of the electromagnetic wave from the anchor point n to the reference point, the waiting time of the anchor point n, the propagation time of the electromagnetic wave from the anchor point n to the positioning label, TtIndicating the moment when the reference point sends out the time scale signal to locate the tag's own time system.
Then there are:
T(tag,an)＝Tan_rx–Tt–T(an,ref)–Tdn
2) when n receives the positioning message sent by the anchor point m, recording the time when the positioning message sent by the anchor point m reaches the positioning label:
Tam_rx＝Tt+T(am,ref)+Tdm+T(tag,am)
wherein, T(am,ref)、Tdm、T(tag,am)Respectively the propagation time of the electromagnetic wave from the anchor point m to the reference point, the waiting time of the anchor point m, the propagation time of the electromagnetic wave from the anchor point m to the positioning label, TtIndicating the moment when the reference point sends out the time scale signal to locate the tag's own time system. Then there are:
T(tag,am)＝Tam_rx–Tt–T(am,ref)–Tdm
3) calculating the time difference of the electromagnetic wave from the anchor point n and the anchor point m to the positioning label Tag respectively as follows:
T(tag,an)–T(tag,am)
＝Tan_rx–Tt–T(an,ref)–Tdn–(Tam_rx–Tt–T(am,ref)–Tdm)
＝Tan_rx–Tam_rx–T(an,ref)–Tdn+T(am,ref)+Tdm
wherein, Tan_rx、Tam_rxAll obtained by recording the arrival time of the positioning message by the positioning label, and T(an,ref)、Tdn、T(am,ref)、TdmAre all contained in the positioning message, hence T(tag,an)–T(tag,am)The time difference of the electromagnetic wave arriving at the positioning Tag from the anchor point n and the anchor point m, respectively, is obtained.
By the method, the relation among the anchor point, the reference point and the positioning label can be determined without paying attention to respective time systems of the anchor point, the reference point and the positioning label.
In addition, the positioning label also obtains the coordinates of the anchor points from the positioning message, when the anchor points are enough, (at least three anchor points are needed for plane positioning, and at least four anchor points are needed for three-position positioning), the electromagnetic wave propagation time difference between each anchor point and the positioning label can be measured and calculated through the method, the time difference of each two anchor points reaching the positioning label is based on, and finally the coordinates of the positioning label are obtained through the existing TDOA method.
It should be noted that, because the clock used in a general UWB device is a common crystal oscillator or a temperature compensation crystal oscillator, there is a large frequency offset and drift, which has a certain influence on the clock synchronization effect of the system, but generally, the accuracy of these common crystal oscillators is less than 20ppm, and the system synchronization frequency is high, and according to calculation, if the accuracy of the crystal oscillator is 20ppm, the time error that cannot be eliminated due to the frequency offset and drift of the crystal oscillator is less than 100 picoseconds, and the total distance is about 0.03 meters, which is acceptable in most cases. While the accuracy of a calibrated crystal or temperature compensated crystal can be typically less than 2ppm, which causes less error. In specific implementation, the method provided by the invention can realize automatic operation flow based on software technology by a person skilled in the art.
In order to illustrate the technical effects of the present invention, the technical solutions of the embodiments of the present invention were used for the following tests:
the main materials are as follows:
a Decawave DWM1000UWB module, an STM32f103c8 singlechip and an LCD1604 display module.
The implementation steps are as follows:
1, the DWM1000 is connected with the SPI bus of the single chip microcomputer, and the I2C port of the single chip microcomputer is connected with the LCD1604 display module. And a UART port of the singlechip is led out for standby.
And 2, respectively writing the programs of the anchor point, the positioning label and the reference point.
1) The anchor point program needs to control DWM1000 to perform transceiving switching, obtain a timestamp of receiving a message, delay transmission, read and modify configuration data (including electromagnetic wave propagation time from itself to a reference point, transmission delay parameters, coordinates of itself, and the like), generate a positioning message, and the like.
2) Reference point procedure requires timing transmission of timing mark signal
3) The program of the positioning tag needs to receive the positioning message sent by the anchor point, record the receiving time, decode the message, and obtain the electromagnetic wave propagation time and the delayed transmitting time from the anchor point to the reference point, and the coordinates of the anchor point, thereby calculating the electromagnetic wave propagation time difference from each anchor point to the positioning tag itself, and further calculating the coordinates of the positioning tag itself.
Installing anchor points (at least three) and reference points in the positioning area, measuring the accurate position of each anchor point and the reference point and the distance between the anchor points and the reference points, converting the distance into electromagnetic wave propagation time, arranging the transmission delay time of each anchor point, and storing the coordinates of the anchor points, the electromagnetic wave propagation time between the anchor points and the reference points and the transmission delay time in each anchor point through a UART port (the STM32f103c8 has a storage device per se);
and 4, after the anchor point and the reference point start working, the positioning label is placed in the positioning area, and positioning can be realized.
The specific examples described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made or substituted in a similar manner to the specific embodiments described herein by those skilled in the art without departing from the spirit of the invention or exceeding the scope thereof as defined in the appended claims.

Claims (1)

1. A time synchronization method in a UWB one-way positioning system lays anchor points with known positions in a positioning range, and is characterized in that: a reference point with a known position is arranged in a positioning range, UWB equipment placed on the reference point has a signal transmitting function, UWB equipment placed on an anchor point has a signal receiving and transmitting function, and the UWB equipment at the positioning label only needs to have a signal receiving function; calculating the electromagnetic wave propagation time difference between each anchor point and the positioning label through measurement, and obtaining the coordinate of the positioning label based on the time difference of each two anchor points reaching the positioning label; for the measurement calculation of the electromagnetic wave propagation time difference, the following operations are performed,
timing mark signals are sent out at regular time by the reference points;
each anchor point stores the propagation time T of the electromagnetic wave from the anchor point to a reference point(a,ref)And respective transmission delay times TdEach anchor point performs the following operations,
1) the anchor point state is set to be a signal receiving state;
2) when anchor point receives time mark signal, its own time system records time of receiving time mark signal, the value of said time is Ta+T(a,ref)And generating a positioning message, wherein the positioning message at least comprises the electromagnetic wave propagation time T from the anchor point to the reference point(a,ref)Transmission delay time T with the anchor pointdAnd the coordinates (Xa, Ya, Za) of the anchor point itself; wherein, TaThe time when the anchor point receives the time scale signal is subtracted by the electromagnetic wave propagation time T from the anchor point to the reference point(a,ref)That is, the time of the anchor point's own time system when the reference point sends out the time mark signal;
3) wait for TdAfter time, the anchor point state is set as a transmitting state, and then the positioning message is transmitted;
after the positioning label receives the positioning message, the time system of the positioning label records the time T of receiving the messaget+TrxWherein T isrx＝T(a,ref)+Td+T(tag,a)，T(tag,a)For the propagation time of electromagnetic waves from anchor point to location tag, TrxRepresenting the propagation time, T, of the time-scale signal from the reference point to the positioning tag via the anchor pointtIndicating the location of the tag itself when the reference point emits the timing mark signalTime of the time system of (1); after decoding the positioning message, T is obtained(a,ref)And Td；
The electromagnetic wave propagation time difference between each anchor point and the positioning label is calculated by measuring, and the method is realized as follows,
two anchor points are respectively an anchor point n and an anchor point m, when the positioning label receives the positioning messages of the two anchor points, the following operations are carried out to solve the time synchronization problem between the anchor points and obtain the electromagnetic wave propagation time difference between each anchor point and the positioning label,
1) when receiving the positioning message sent by the anchor point n, recording the time T when the positioning message sent by the anchor point n reaches the positioning labelan_rx＝Tt+T(an,ref)+Tdn+T(tag,an)
Wherein, T(an,ref)、Tdn、T(tag,an)Respectively the propagation time of the electromagnetic wave from the anchor point n to the reference point, the waiting time of the anchor point n, the propagation time of the electromagnetic wave from the anchor point n to the positioning label, TtIndicating the moment when the reference point sends out the time scale signal to locate the tag's own time system,
then there is a change in the number of,
T(tag,an)＝Tan_rx–Tt–T(an,ref)–Tdn
2) when receiving the positioning message sent by the anchor point m, recording the time T when the positioning message sent by the anchor point m reaches the positioning labelam_rx＝Tt+T(am,ref)+Tdm+T(tag,am)
Wherein, T(am,ref)、Tdm、T(tag,am)Respectively the propagation time of the electromagnetic wave from the anchor point m to the reference point, the waiting time of the anchor point m, the propagation time of the electromagnetic wave from the anchor point m to the positioning label, TtIndicating the moment when the reference point sends out the time scale signal to locate the tag's own time system,
then there is a change in the number of,
T(tag,am)＝Tam_rx–Tt–T(am,ref)–Tdm
3) calculating the time difference of the electromagnetic wave from the anchor point n and the anchor point m to the positioning label Tag respectively as,
T(tag,an)–T(tag,am)＝Tan_rx–Tt–T(an,ref)–Tdn–(Tam_rx–Tt–T(am,ref)–Tdm)
＝Tan_rx–Tam_rx–T(an,ref)–Tdn+T(am,ref)+Tdm
wherein, Tan_rx、Tam_rxAll obtained by recording the arrival time of the positioning message by the positioning label, and T(an,ref)、Tdn、T(am,ref)、TdmAre all contained in the positioning message, hence T(tag,an)–T(tag,am)The time difference of the electromagnetic wave arriving at the positioning Tag from the anchor point n and the anchor point m, respectively, is obtained.
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