CN109633537A - A kind of employee's positioning system based on UWB ranging - Google Patents
A kind of employee's positioning system based on UWB ranging Download PDFInfo
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- CN109633537A CN109633537A CN201811608608.7A CN201811608608A CN109633537A CN 109633537 A CN109633537 A CN 109633537A CN 201811608608 A CN201811608608 A CN 201811608608A CN 109633537 A CN109633537 A CN 109633537A
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
- G01S5/0063—Transmission from base station to mobile station of measured values, i.e. measurement on base station and position calculation on mobile
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses employee's positioning systems based on UWB ranging, label, central server are positioned including interchanger, UWB locating base station, UWB and drawing system is built based on SLAM, the UWB locating base station is located at anchor point, the UWB positioning label is carried by personnel to be positioned, the interchanger connects UWB locating base station and central processing unit by shielding netting wire, the position fixing process includes the following steps, 1) it utilizes and builds drawing system extraction environment point cloud characteristic pattern, initialization context map；2) position of UWB positioning label is primarily determined；3) current local map and global context map are constantly merged；4) personnel's precise position information to be positioned is obtained.Anti-interference of the present invention, stability are strong, and positioning accuracy is higher, and structure is simple, and equipment cost is very low, and power is low, and stand-by time is long, may be implemented personnel positioning, and location information is shared and long-range monitoring, improve personal management efficiency.
Description
Technical field
The present invention relates to wireless location technology field more particularly to a kind of employee's positioning systems based on UWB ranging.
Background technique
In open outdoor environment, more accurately positioned by GPS positioning system is available, but environment indoors
In, GPS signal decaying is serious, and indoor environment is complicated, and there are a variety of interference, noise, can not be accurately positioned.It is common at present
Indoor positioning technologies solution mainly have ultrasonic wave location technology, Bluetooth technology, infrared technology, Radio Frequency Identification Technology,
Super-broadband tech, Wireless LAN, light tracking and positioning technology etc..The transmitting of UWB (UltraWideband, that is: ultra-wide band) technology
Power spectrum density is low, anti-multipath effect is good, highly-safe, system complexity is low, has good temporal resolution, can mention
For the positioning accuracy of Centimeter Level, the blank in high accuracy positioning field has been filled up, has been suitable for the needs of the following wireless location technology, it can
It is accurately positioned and tracks for static or mobile object.
In actual life, people be frequently necessary to go in the complicated and huge interior space positioning find some or
Object, such as seek vehicle, the household that searching is wandered away in parking lot and search emphasis security region staff's real time position etc., so
And due to the complexity of environment and space, it to realize quickly lookup and positioning difficulty is quite big.There are many offices again in the prior art
Limit and drawback have been unable to satisfy growing technical need especially in subdivision field, such as: 1) at market, airport, station
Etc. crowded place, it usually needs efficient stream of people's monitoring and Motion trend analysis means, rational management personnel, to improve operation effect
Rate；2) mine and skyscraper need real-time localization of internal employee in emergency situations；3) medical care institutions need in real time
Object of nursing and medical staff are positioned, to provide most timely healthcare etc..
Summary of the invention
Position positions when the present invention is to solve the problems, such as employee work, and it is simple to provide a kind of structure, anti-interference, steady
Qualitative strong, positioning accuracy is high, can establish indoor high-precision map, and the employee based on UWB ranging for improving long-range management level is fixed
Position system.
To achieve the goals above, the present invention uses following technical scheme, a kind of employee's positioning system based on UWB ranging
System including interchanger, UWB locating base station, UWB positioning label, central server and based on SLAM builds drawing system, described
UWB locating base station is located at anchor point, and the UWB positioning label is carried by personnel to be positioned, and the interchanger passes through shielding
Cable connects UWB locating base station and central processing unit, and the position fixing process, which includes the following steps: 1) to utilize, builds drawing system extraction
Environment point cloud characteristic pattern, initialization context map；2) described in the personnel's moving process to be positioned for carrying UWB positioning label
UWB positioning label repeats the uninterrupted data frame that sends and gives UWB locating base station, and UWB locating base station measures each of UWB positioning label
The time that data frame reaches, and the time that data frame reaches each UWB locating base station is sent to by central service by interchanger
Device, central server position the time data that label sends over according to UWB, and it is different to determine that UWB positioning label data frame reaches
Time difference between UWB locating base station, central server determine the position of UWB positioning label according to three side weighted mass center algorithmic preliminaries
It sets；3) central server calibrates location data using TDOA location algorithm and using the time data from UWB positioning label,
Drawing system of building based on SLAM positions the current local map of label position information update according to current UWB, by current local map
It is constantly merged with global context map；4) UWB that central server is primarily determined according to the double-deck Kalman filtering algorithm fusion is fixed
The position position of label and the location information of barrier, obtain personnel's precise position information to be positioned, return again to step 3) and continue to determine
Position data and environmental map update.In this programme personnel's moving process to be positioned, UWB is positioned label and is repeated not with ultra-wideband pulse
Interruption sends data frame and gives UWB locating base station, and UWB locating base station measures each positioning using the short pulse detector of high sensitivity and marks
The data frame of label reaches the time of receiver antenna；By interchanger by pulse data frame reach each UWB locating base station when
Between difference be sent to central server, the calibration data that built-in engine of positioning reference label sends in central server, really
Calibration label reach the time difference between different locating base stations, and central server determines UWB according to three side weighted mass center algorithmic preliminaries
Position the position of label.
Preferably, being divided into 30-100 meters between the UWB locating base station, the UWB locating base station passes through chrysanthemum
Chain joins end to end or the mode of star-like connection is connect with interchanger.
Preferably, scene three-dimensional point cloud can be obtained by camera in step 1), then draw grating map again as ring
Condition figure.
Preferably, in step 2), the three side weighted mass center algorithms specifically: receive data frame from all first
UWB locating base station in it is optional three form one group, using each UWB locating base station coordinate as the center of circle, arrived with UWB locating base station
The distance of UWB label is that radius draws circle；Then the triangle formed according to intersection point, seeks its center-of-mass coordinate (xk, yk), k=1,2 ...
L, l are the mass center sum that combination obtains；Then according to the bigger principle of the bigger position error of distance, each combined mass center is sat
Mark is assigned to weight, and wherein weight is determined by the inverse that UWB positions label to corresponding centroid distance；Finally to each combined mass center
Weighting obtains final UWB tag location as a result, specific formula for calculation is as follows:
In formula, (xi,yi) it is center-of-mass coordinate, liFor at a distance from UWB label to corresponding mass center.
Preferably, the position for primarily determining UWB positioning label using step 2) passes through as basic status in step 3)
Changing coordinates that ATOA method is calculated are updated as observation, using EKF algorithm, are corrected to obtain posteriority to prior estimate and be estimated
Meter, with relative position information needed for extracting the actual time of arrival, the global context map partitioning be include fixed character
The sub- map of the independence of conventional number realizes SLAM in each sub- map respectively, when UWB position label position from a sub- map A to
When another sub- map B, the information in sub- map A is sent to sub- map B using based on the method for EKF, and according to the position
Confidence ceases real-time update cloud global context cartographic information.
Preferably, central server is equipped with map display module in step 4), the location data after calibration is made into track
Change processing, and the location data after handling through trackization is shown on the electronic map.
In the present invention, UWB, i.e. Ultra Wide band, also referred to as ultra-wide band technology；SLAM, i.e. Simultaneous
Localization and Mapping, it is also referred to as synchronous to position and build diagram technology；TDOA, i.e. TimeDifference of
Arrival, also referred to as reaching time-difference；ATOA, i.e. actual time of arrival, also referred to as actual time of arrival；EKF is calculated
Method, i.e. Extended Kalman Filter, also referred to as expanded Kalman filtration algorithm.
Therefore, the invention has the following beneficial effects: the 1) present invention to use UWB location technology, not vulnerable to indoor light etc.
The influence of environmental factor, non-line-of-sight propagation and multipath effect, anti-interference, stability are strong, and positioning accuracy is higher, positioning accuracy energy
Reach Centimeter Level；2) UWB wireless communication system receiver do not have local oscillator, power amplifier, phaselocked loop (PLL), voltage controlled oscillator (VCO),
Frequency mixer etc., thus structure is simple, equipment cost will be very low, and power is low, and stand-by time is long；3) present invention is used and is based on
SLAM's builds drawing method, realizes indoor high-precision map and establishes；4) present invention uses three side weighted mass center location algorithms, subtracts
Small calculating error, improves positioning accuracy；5) present invention avoids opposite seat using the fixed UWB receiver of absolute coordinate system
Mark system positioning bring accumulated error；6) personnel positions and cartographic information are stored in cloud by the present invention, are improved resource utilization,
Personnel positioning can also be realized simultaneously, and location information is shared and remotely monitors, and improves personal management efficiency.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is that the present invention draws grating map flow chart.
Fig. 3 is the catenation principle figure of central processing unit of the present invention, interchanger and UWB receiver.
Fig. 4 is UWB of the present invention and base station with the end to end catenation principle figure of daisy chain.
Fig. 5 be UWB of the present invention with base station with the star-like catenation principle figure being connected.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
As shown in Figures 1 to 5, a kind of employee's positioning system based on UWB ranging, including interchanger, UWB locating base station,
UWB positions label, central server and builds drawing system based on SLAM, and UWB locating base station is located at anchor point, and the UWB is fixed
Position label is carried by personnel to be positioned, and the interchanger connects UWB locating base station and central processing unit by shielding netting wire, fixed
Position process, which includes the following steps: 1) to utilize, builds drawing system extraction environment point cloud characteristic pattern, initialization context map；2) UWB is carried
In the personnel's moving process to be positioned for positioning label, the UWB positioning label repeats the uninterrupted data frame that sends and positions to UWB
Base station, UWB locating base station measures the time that each data frame of UWB positioning label reaches, and is arrived data frame by interchanger
Time up to each UWB locating base station is sent to central server, central server according to UWB position that label sends over when
Between data, determine that UWB positioning label data frame reaches time difference between different UWB locating base stations, central server is according to three
Side weighted mass center algorithmic preliminaries determine the position of UWB positioning label；3) central server using TDOA location algorithm and using come
Location data is calibrated from the time data of UWB positioning label, the drawing system of building based on SLAM positions label position according to current UWB
The current local map of information update is set, current local map and global context map are constantly merged；4) central server according to
The position for the UWB positioning label that the double-deck Kalman filtering algorithm fusion primarily determines and the location information of barrier, obtain undetermined
Position personnel's precise position information returns again to step 3) and continues location data and environmental map update；
30-100 meters are divided between UWB locating base station, UWB locating base station joins end to end by daisy chain or star-like connection
Mode connect with interchanger；
In step 1), scene three-dimensional point cloud can be obtained by camera, then draw grating map again as environmental map；
In step 2), three side weighted mass center algorithms specifically: first from all UWB locating base stations for receiving data frame
Optional three form one group, are half with the distance of UWB locating base station to UWB label using each UWB locating base station coordinate as the center of circle
Diameter draws circle；Then the triangle formed according to intersection point, seeks its center-of-mass coordinate (xk, yk), k=1,2 ... l, l are the matter that combination obtains
Heart sum；Then according to the bigger principle of the bigger position error of distance, weight is assigned to each combined center-of-mass coordinate, wherein weighing
Value is determined by the inverse that UWB positions label to corresponding centroid distance；Finally each combined mass center is weighted to obtain final UWB
Tag location is as a result, specific formula for calculation is as follows:
In formula, (xi,yi) it is center-of-mass coordinate, liFor at a distance from UWB label to corresponding mass center；
In step 3), the position for primarily determining UWB positioning label using step 2) passes through ATOA method meter as basic status
Obtained changing coordinates are updated as observation, using EKF algorithm, correct to obtain Posterior estimator to prior estimate, to extract reality
Relative position information needed for the arrival time of border, global context map partitioning are the independent son ground for including fixed character conventional number
Figure, realizes SLAM in each sub- map respectively, when UWB positions label position from a sub- map A to another sub- map B,
The information in sub- map A is sent to sub- map B using based on the method for EKF, and according to the location information real-time update cloud
Hold global context cartographic information；
In step 4), central server is equipped with map display module, and the location data after calibration is made trackization processing, and
The location data after handling through trackization is shown on the electronic map.
Specifically used process is switch network parameter to be configured first, according to the principle every 30-100 meters or so in day
On card arrange UWB locating base station, by each UWB locating base station daisy chain join end to end or star-like connection by way of with shield
It covers cable to connect with interchanger, all standing of localization region signal on the one hand can be achieved, on the other hand can reduce UWB locating base station
Dispose quantity.The change of indoor environment certainly will will affect signal attenuation degree, therefore UWB locating base station is placed spacing and needed according to reality
Border situation is adjusted.When careat is smaller, UWB locating base station mutual spacing is arranged at 30 meters or so, this is apart from unsuitable
It is too small, interference is otherwise easily caused, positioning accuracy is influenced；When careat is larger, then receiver spacing can be amplified, it is maximum
It can reach 100 or so；
Exchange data transmission port is connect with central processing unit again, UWB positions label and UWB locating base station is established and connected
It connects；It is as shown in Figure 1, after the completion of hardware connection, indoor environment is scaled on map, and extraction environment fixed character,
Such as wall, desk, UWB receiver, and it is uploaded to cloud；This example uses Grid Method to create initially with ARCGIS software
Figure (locating base station, reference label position will be labeled on map with point), specially indicates that clear, black indicate with white
The mode of barrier marks out indoor object, and UWB locating base station position is outpoured with a case marker；When grid division is too small
When, processing data volume is excessive, divides excessive and will affect positioning and path planning precision, therefore considers for grid size to be scheduled on
1cm or so；
Then, in personnel's moving process to be positioned, UWB positioning label sends the umber of pulse being made of ultra-wideband pulse repeatedly
According to packet, UWB receiver receives these pulse data packets and is uploaded to interchanger, and interchanger positions base to UWB by shielding netting wire
It stands power supply, while giving locating base station tranmitting data register source and serial communication data, and pulse data packet is reached into each receiver
The data informations such as time difference (i.e. TDOA detection method) are uploaded to central processing unit, central processing by the communication serial ports of interchanger
Device determines the position of positioning label according to three side weighted mass center algorithmic preliminaries, specifically, three side weighted mass center location algorithms, be
After determining distance, optional three form one group from all receivers for receiving pulse signal, are with each receiver coordinate
The center of circle, the receiver measured to positioning terminal distance are that radius draws circle, and the triangle then formed according to intersection point seeks its mass center；
Then, the principle bigger according to the bigger position error of distance, is assigned to weight to each combined center-of-mass coordinate, the weight is by UWB
Label is to corresponding centroid distance (lk) inverse determine；Finally, weighting each obtained result that combines to obtain final UWB mark
It signs positioning result (x, y), specific formula for calculation is as follows:
Wherein (xi,yi) it is center-of-mass coordinate, liTo be marked with UWB
It registers the distance of corresponding mass center；
Central processing unit obtains the absolute position of personnel to be positioned with three side weighted mass center algorithms, and global map is divided into packet
The sub- map of independence for including fixed character conventional number, realizes SLAM in each sub- map respectively, when UWB positioning label position is from one
When sub- map A to another sub- map B, the information in sub- map A is sent to sub- map B using based on the method for EKF；And
According to the location information real-time update cloud cartographic information；
Finally, the location information and obstacle of the UWB label primarily determined using bilayer Kalman filtering algorithm DLKF processing
Object location information, to obtain the current precise position information of personnel to be positioned；Wherein the double-deck Kalman filtering algorithm includes bottom card
Kalman Filtering and top layer Kalman filtering, bottom uses Extended Kalman filter model, using UWB location information as basic shape
State, relative position information needed for bottom is used as extraction actual time of arrival (ATOA), top layer use Kalman filter model, with
The displacement variable of personnel to be positioned is inputted as basic status in the unit time in bottom, passes through ATOA method with current time
The changing coordinates being calculated are updated as observation, to obtain accurate UWB label position information.
Claims (6)
1. a kind of employee's positioning system based on UWB ranging, which is characterized in that including interchanger, UWB locating base station, UWB positioning
Label, central server and drawing system is built based on SLAM, the UWB locating base station is located at anchor point, and the UWB is fixed
Position label is carried by personnel to be positioned, and the interchanger connects UWB locating base station and central processing unit, institute by shielding netting wire
The position fixing process stated, which includes the following steps: 1) to utilize, builds drawing system extraction environment point cloud characteristic pattern, initialization context map；2) it takes
In personnel's moving process to be positioned with UWB positioning label, the described UWB positioning label repeat it is uninterrupted send data frame to
UWB locating base station, UWB locating base station measures the time that each data frame of UWB positioning label reaches, and will be counted by interchanger
It is sent to central server according to the time that frame reaches each UWB locating base station, central server positions label according to UWB and is transmitted across
The time data come determine that UWB positioning label data frame reaches the time difference between different UWB locating base stations, central server
The position of UWB positioning label is determined according to three side weighted mass center algorithmic preliminaries；3) central server uses TDOA location algorithm simultaneously
Location data is calibrated using the time data from UWB positioning label, the drawing system of building based on SLAM is positioned according to current UWB
The current local map of label position information update, current local map and global context map are constantly merged；4) central service
The position for the UWB positioning label that device is primarily determined according to the double-deck Kalman filtering algorithm fusion and the location information of barrier, obtain
To personnel's precise position information to be positioned, returns again to step 3) and continue location data and environmental map update.
2. a kind of employee's positioning system based on UWB ranging according to claim 1, characterized in that the UWB positioning
Be divided into 30-100 meters between base station, the UWB locating base station daisy chain join end to end or star-like connection by way of and friendship
It changes planes connection.
3. a kind of employee's positioning system based on UWB ranging according to claim 1, characterized in that in step 1), can lead to
It crosses camera and obtains scene three-dimensional point cloud, then draw grating map again as environmental map.
4. a kind of employee's positioning system based on UWB ranging according to claim 1, characterized in that described in step 2)
Three side weighted mass center algorithms specifically: first from all UWB locating base stations for receiving data frame it is optional three composition one
Group is drawn as radius using the distance of UWB locating base station to UWB label and is justified using each UWB locating base station coordinate as the center of circle；Then root
According to the triangle that intersection point forms, its center-of-mass coordinate (x is soughtk, yk), k=1,2 ... l, l are the mass center sum that combination obtains；Then root
According to the bigger principle of the bigger position error of distance, weight is assigned to each combined center-of-mass coordinate, wherein weight is positioned by UWB and marked
The reciprocal of corresponding centroid distance of registering determines；Finally each combined mass center is weighted to obtain final UWB tag location as a result,
Specific formula for calculation is as follows:
In formula, (xi,yi) it is center-of-mass coordinate, liFor at a distance from UWB label to corresponding mass center.
5. a kind of employee's positioning system based on UWB ranging according to claim 1, characterized in that in step 3), with step
The rapid position for 2) primarily determining UWB positioning label is as basic status, the changing coordinates conduct being calculated by ATOA method
Observation updates, and using EKF algorithm, corrects to obtain Posterior estimator to prior estimate, opposite needed for the actual time of arrival to extract
Location information, the global context map partitioning is the sub- map of independence for including fixed character conventional number, in each sub- map
SLAM is realized respectively, when UWB positions label position from a sub- map A to another sub- map B, using the side based on EKF
Method sends the information in sub- map A to sub- map B, and is believed according to the location information real-time update cloud global context map
Breath.
6. a kind of employee's positioning system based on UWB ranging according to claim 1, characterized in that in step 4), center
Server is equipped with map display module, the location data after calibration is made trackization processing, and shown on the electronic map through rail
Location data after markization processing.
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| CN110337062A (en) * | 2019-07-23 | 2019-10-15 | 秒针信息技术有限公司 | Localization method and device in a kind of exhibition |
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| CN110775110A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Train control system based on vehicle-to-vehicle communication |
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| CN110337062A (en) * | 2019-07-23 | 2019-10-15 | 秒针信息技术有限公司 | Localization method and device in a kind of exhibition |
| CN110412987A (en) * | 2019-08-21 | 2019-11-05 | 深圳市锐曼智能装备有限公司 | Double excitation positioning navigation method and robot |
| CN110471077A (en) * | 2019-08-22 | 2019-11-19 | 北京邮电大学 | A kind of localization method and device |
| CN110775110A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Train control system based on vehicle-to-vehicle communication |
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| CN112291717A (en) * | 2020-10-30 | 2021-01-29 | 山东协和学院 | Intelligent positioning management system based on UWB (ultra Wide band) label technology |
| CN114554413A (en) * | 2020-11-24 | 2022-05-27 | 上海新微技术研发中心有限公司 | Indoor positioning area management and control system |
| CN113099463A (en) * | 2021-03-28 | 2021-07-09 | 国网浙江省电力有限公司经济技术研究院 | UWB base station layout analysis system and method based on BIM and progress plan |
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| CN113255600A (en) * | 2021-06-29 | 2021-08-13 | 上海影创信息科技有限公司 | Point cloud map updating optimization method, system, medium and equipment based on client |
| CN113255600B (en) * | 2021-06-29 | 2021-10-01 | 上海影创信息科技有限公司 | Point cloud map updating optimization method, system, medium and equipment based on client |
| CN114374926A (en) * | 2021-12-13 | 2022-04-19 | 北京长焜科技有限公司 | 4G/5G communication base station fusion method applying UWB positioning |
| CN114374926B (en) * | 2021-12-13 | 2023-09-15 | 北京长焜科技有限公司 | 4G/5G communication base station fusion method applying UWB positioning |
| CN115308684A (en) * | 2022-07-05 | 2022-11-08 | 广州晓网电子科技有限公司 | Uwb ultra-wideband indoor positioning method and device |
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Application publication date: 20190416 |