CN109040964A - A kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference - Google Patents
A kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference Download PDFInfo
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- CN109040964A CN109040964A CN201811098432.5A CN201811098432A CN109040964A CN 109040964 A CN109040964 A CN 109040964A CN 201811098432 A CN201811098432 A CN 201811098432A CN 109040964 A CN109040964 A CN 109040964A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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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
- G01S5/02—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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- 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
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention discloses a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference, in position fixing process, label node only receives positioning signal, no need to send positioning signals can be completed positioning to anchor node, under this positioning method, no matter localization region interior label node how many, the positioning of each label node can be completed, greatly improve power system capacity and reliability；Anchor node clock, which synchronizes, does not need additional synchronizing network, and system effectiveness is greatly improved, reduces cost；And the present invention in a region by arranging N (N > 1) a anchor node, available most in a locating periodically for the angle of permutation and combinationA different distance difference, N is bigger, and the distance difference that label node obtains is more, and positioning accuracy is higher.
Description
Technical field
The invention belongs to wireless positioning field, in particular to a kind of TDOA location technology.
Background technique
Wireless location system refers to the object fixed or moved by measurement using radio wave straight line constant speed propagation characteristic
Technology of the position to be positioned.Radio-positioning has radar, direction-finding station, radio navigation system and global location
System etc..Wireless location technology can be divided into wide area network location technology and WLAN location technology, wherein wide area network positioning
It is divided into satellite positioning and base station cell running fix；WLAN positioning is mainly positioned including Wi-Fi, ZigBee is positioned,
UWB positioning, CSS location technology etc..
In current passive type TDOA localization method, anchor node working method is roughly divided into three kinds: frequency division technique, code divide
Technology (such as GPS positioning) and time division technique.Wherein frequency division or code divide mode more direct, and label node can receive more simultaneously
A anchor node signal can be compared directly under the premise of guaranteeing anchor node time synchronization and obtain TDOA information.But for certain
Communication protocol (UWB, CSS etc.), does not have enough frequency divisions or code point ability, can only use time division way.And time division way
In, each anchor node cannot emit simultaneously to induction signal, can only emit in order to induction signal, after label node receives signal
It also needs to emit corresponding signal time calculating TDOA information using each anchor point, therefore all anchor nodes and label node clock are both needed to
It is synchronous.According to additional wirelessly or non-wirelessly synchronizing network, system cost can be significantly greatly increased, be highly detrimental in cost sensitivity
Local network positioning system in implement.So how not use additional synchronization net in such TDOA positioning scene
Under the premise of network, remains to reach enough positioning accuracy and reliability, be a problem to be solved.
Summary of the invention
In order to solve the above technical problems, the present invention proposes that a kind of efficient passive type time-division TDOA for eliminating clock frequency difference is fixed
Position method, label node only receive positioning signal, and no need to send positioning signals can be completed positioning to anchor node.
The technical solution of the present invention is as follows: a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference,
The N number of anchor node of space layout, label node according to the positioning signal that two anchor nodes of certain received are sent calculate oneself and
Signal arrival time difference between corresponding two anchor nodes；Label node is calculated according to obtained several groups reaching time-difference
Coordinate.
Further, when one-dimensional positioning, then N, which is at least, is greater than or equal to 2；
When for two-dimensional localization, then N, which is at least, is greater than or equal to 3；
When for three-dimensional localization, then N, which is at least, is greater than or equal to 4.
Further, C2 is at most obtainedNGroup reaching time-difference.
Further, it is communicated in each timeslice there are two anchor node.
Further, the two anchor nodes of reaching time-difference are calculated as two anchor nodes in some timeslice.
Further, the reaching time-difference calculating process are as follows:
A1, anchor node is numbered, and each anchor node number is unique；
A2, in a locating periodically, according to determining communication sequence, in addition to starting point, remaining each anchor node exists
After the positioning signal for receiving an anchor node, positioning signal twice is sent by corresponding time interval；It originates anchor node and sends one
Secondary positioning signal；
The total positioning signal three times that A3, label node are sent according to two anchor nodes of certain received, calculates the label section
Signal arrival time difference between point and the two anchor nodes；
A4, the several groups group reaching time-difference obtained according to step A3.
Further, step A2 further include:, should if a upper anchor node for current anchor node is not starting anchor node
Anchor node sends positioning twice by corresponding time interval and believes after receiving second of positioning signal that a upper anchor node is sent
Number.
Further, described in step A3 three times positioning signal include: in two anchor nodes communication sequence preceding
Anchor node the positioning signal that sends of last time and the positioning signal twice that sends of the posterior anchor node of communication sequence.
Further, step A3 detailed process are as follows:
The time point that A31, label node are reached according to the positioning signal from anchor node that itself clock log receives；
A32, selection any two anchor node, obtain that the two anchor nodes are recorded at label node locates signal to
Up to time point；
A33, according to the preceding anchor node of communication sequence second send locate signal to the time point up to label node,
The posterior anchor node of communication sequence sends two time points located signal to twice up to label node；Calculate label node with
Signal arrival time difference between the two anchor nodes.
A kind of beneficial effects of the present invention: colleges and universities' passive type time-division TDOA positioning side of elimination clock frequency of the invention
Method, in position fixing process, anchor node communications applications time division technique, the same period is only communicated there are two anchor node, is resisted dry
Immunity is high, and label node only receives positioning signal, and no need to send positioning signals can be completed positioning to anchor node, this
Under positioning method, no matter localization region interior label node how many, the positioning of each label node can be completed, greatly
Improve power system capacity and reliability；The present invention in a region by arranging N (N > 1) a anchor node simultaneously, from arrangement group
For the angle of conjunction, available C2 in a locating periodicallyN(N > 1) a different distance difference, label node obtain with
Distance difference is more between different anchor nodes, and geometric dilution of precision (GDOP) is lower, and positioning accuracy is higher；Also, the present invention
Middle anchor node clock, which synchronizes, does not need additional synchronizing network, is directly incorporated in position fixing process, system effectiveness is greatly improved,
Reduce cost.
Detailed description of the invention
The schematic diagram of two anchor nodes, one label node arrangement when Fig. 1 is one-dimensional positioning provided in an embodiment of the present invention；
Fig. 2 be it is provided in an embodiment of the present invention with for positioning when two anchor nodes, one label node positioning flow figure.
Specific embodiment
For convenient for those skilled in the art understand that technology contents of the invention, with reference to the accompanying drawing to the content of present invention into one
Step is illustrated.
The technical solution of the present invention is as follows: a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference,
In position fixing process, anchor node clock, which synchronizes, does not need additional synchronizing network, and system effectiveness is greatly improved, reduces cost.Label
Node only receives positioning signal, and no need to send positioning signals can be completed positioning to anchor node, under this positioning method,
No matter localization region interior label node how many, the positioning of each label node can be completed, greatly improve system appearance
Amount and reliability.At the same time, the present invention can significantly improve positioning accuracy.Assuming that arranging N (N > 1) a anchor in a region
Node, it is available most in a locating periodically for the angle of permutation and combinationA different distance difference,
N is bigger, and the distance difference that label node obtains is more, and positioning accuracy is higher.
As shown in Figure 1, explaining by taking the arrangement of two anchor nodes and a label node as an example the contents of the present invention
It states:
Anchor1 is No. 1 anchor node in Fig. 1, and Anchor2 is No. 2 anchor nodes, and Tag is label node.
Assuming that with frequency fstandardFor nominal frequency, the clock frequency of equipment Anchor1, Anchor2 and Tag are respectively
fanchor1、 fanchor2、ftag, the frequency between nominal frequency is than being respectively Kanchor1、Kanchor2、Ktag, wherein Kanchor1=
fstandard/fanchor1、Kanchor2=fstandard/fanchor2、Ktag=fstandard/ftag, it is illustrated in figure 2 specific positioning stream
Journey (in being described below, all time points are corresponding subscript equipment clock timing)；Specific step is as follows:
I. assume at a time, Anchor1 starts to send positioning signal, at this time pair of Anchor1, Anchor2, Tag
The time point for answering respective clock is respectively tanc1、tanc2、ttag；
II.Anchor2 and Tag node receives the positioning signal of Anchor1, respectively arrives by itself clock log signal that gets off
The time point t' reachedanc2、t'tag.Wherein t'anc2=tanc2+Kanchor2*LA1A2/c,t'tag=ttag+Ktag*LA1Tag/c.C in formula
For the light velocity in air；
III.Anchor2 is in time point t'anc2, be delayed delayTime and 2*delayTime, i.e., Anchor2 is in t'anc2+
DelayTime and t'anc2+ 2*delayTime time point sends a positioning signal respectively.Wherein delayTime is opposite
In fanchor2For；Generally selected in hundreds of microseconds between tens of milliseconds.
IV.Tag node receives the positioning signal of Anchor2 twice respectively, is recorded twice the time point of signal arrival respectively
t”tagWith t " 'tag。
Wherein, t "tag=ttag+Ktag*(LA1A2/c+LA2Tag/c)+(Ktag/Kanchor2) * delayTime, t " 'tag=ttag
+Ktag*(LA1A2/c+LA2Tag/c)+(Ktag/Kanchor2)*2*delayTime；C is the light velocity in air.
V.Tag node calculates reaching time-difference according to the above time signal.
Δ t=2*t "tag-t'tag-t”'tag=2* [ttag+Ktag*(LA1A2/c+LA2Tag/c)+(Ktag/Kanchor2)*
delayTime] -[ttag+Ktag*LA1Tag/c]-[ttag+Ktag*(LA1A2/c+LA2Tag/c)+(Ktag/Kanchor2)*2*
DelayTime]=Ktag*(LA2Tag/c-LA1Tag/c+LA1A2/c),
Due to distance L between anchor pointA1A2It is known that obtain Tag node and Anchor1, the range difference of Anchor2 node
LA2Tag-LA1Tag=(Δ t/Ktag-LA1A2/c)*c。
From formula LA2Tag-LA1Tag=(Δ t/Ktag-LA1A2/ c) * c can be seen that calculating range difference only with Tag point when
Clock frequency is related, unrelated with the clock frequency of anchor node, also, 1-KtagIt is in ppm (hundred a ten thousandths) magnitude, in TDOA
Range error caused by positioning can be disregarded.
In the case where being greater than 2 anchor nodes, the arrangement basic demand of anchor node are as follows: obtained by vertex line of each anchor node
To polygon range should be greater than or be equal to localization region；Communication sequence between anchor node can be using single-stranded and circulation
The mode of chain.Assuming that there is the anchor node that number is 1,2,3,4,5 respectively.A head is set under single-stranded mode, in anchor node
Anchor node and stern anchor node, other anchor nodes can be with random order combination of two, and any anchor node repeats in chain to be occurred,
It is assumed that head anchor node is No. 1 anchor node, stern anchor node is No. 5 anchor nodes, and job order can be 1- > 2- > 3- > 4- > 5,
Or 1- > 3- > 4- > 2- > 3- > 5 etc..Under endless-chain mode, job order can be 1- > 2- > 3- > 4- > 5- > 1, can also
Think 1- > 3- > 2- > 5- > 3- > 4- > 1 etc..Multiple anchor nodes in each locating periodically according to the order of order planned and
Positioning flow of the invention sends positioning signal.
When being greater than 2 anchor nodes, if a upper anchor node for current anchor node is not starting anchor node, currently
Anchor node, which sends positioning signal twice, to be delayed respectively after receiving the positioning signal of second of transmission of a upper anchor node
A positioning signal is respectively sent after delayTime and 2*delayTime.
According to the above method, in the case where arranging N number of anchor node, for the angle of permutation and combination, label node one
It is available in locating periodicallyA different distance difference can use general TDOA location algorithm, for example ask
Hyperbolic Equation group, kalman filtering etc. are solved, the coordinate of TAG node is calculated.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.For ability
For the technical staff in domain, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc., should be included within scope of the presently claimed invention.
Claims (9)
1. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference, which is characterized in that N number of in space layout
Anchor node, label node calculate oneself and the two anchor nodes according to the positioning signal that two anchor nodes of certain received are sent
Between signal arrival time difference；The coordinate of label node is calculated according to several groups reaching time-difference.
2. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference according to claim 1, special
Sign is, when one-dimensional positioning, then N, which is at least, is greater than or equal to 2；
When for two-dimensional localization, then N, which is at least, is greater than or equal to 3；
When for three-dimensional localization, then N, which is at least, is greater than or equal to 4.
3. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference according to claim 2, special
Sign is, at most obtainsGroup reaching time-difference.
4. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference according to claim 1, special
Sign is that anchor node uses time-division communication, is communicated in each timeslice there are two anchor node.
5. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference according to claim 4, special
Sign is, calculates the two anchor nodes of reaching time-difference as two anchor nodes in some timeslice.
6. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference according to claim 5, special
Sign is, the reaching time-difference calculating process are as follows:
A1, anchor node is numbered, and each anchor node number is unique；
A2, in a locating periodically, according to determining communication sequence, in addition to starting point, remaining each anchor node is being received
After the positioning signal of a upper anchor node, positioning signal twice is sent by corresponding time interval；It originates anchor node and sends and once determine
Position signal；
The positioning signal three times altogether that A3, label node are sent according to two anchor nodes of certain received, calculate the label node and
Signal arrival time difference between the two anchor nodes；
A4, the several groups reaching time-difference obtained according to step A3.
7. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference according to claim 6, special
Sign is, step A2 further include: if a upper anchor node for current anchor node is not starting anchor node, which is being received
After second of positioning signal that a upper anchor node is sent, positioning signal twice is sent by corresponding time interval.
8. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference according to claim 7, special
Sign is that positioning signal includes: of the preceding anchor node of communication sequence in two anchor nodes three times described in step A3
The positioning signal twice that the posterior anchor node of positioning signal and communication sequence of secondary transmission is sent.
9. a kind of efficient passive type time-division TDOA localization method for eliminating clock frequency difference according to claim 8, special
Sign is, step A3 detailed process are as follows:
The time point that A31, label node are reached according to the positioning signal from anchor node that itself clock log receives；
A32, selection any two anchor node, when obtaining the positioning signal arrival that the two anchor nodes are recorded at label node
Between point；
A33, the time point up to label node, communication are located signal to according to second of the transmission of the preceding anchor node of communication sequence
Sequentially posterior anchor node sends two time points located signal to twice up to label node；Calculate the label node and this two
Signal arrival time difference between a anchor node.
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| CN111866710A (en) * | 2020-07-01 | 2020-10-30 | 黄珊 | UWB positioning system, tag positioning method and device |
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| CN112995891A (en) * | 2021-02-08 | 2021-06-18 | 青岛联合创智科技有限公司 | Parking lot vehicle positioning method and system based on UWB |
| WO2022057454A1 (en) * | 2020-09-15 | 2022-03-24 | Oppo广东移动通信有限公司 | Distance difference determination method, data frame transmission method, and related product |
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