CN110099441A - A kind of interior 3-D wireless location technology - Google Patents
A kind of interior 3-D wireless location technology Download PDFInfo
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- CN110099441A CN110099441A CN201810087346.8A CN201810087346A CN110099441A CN 110099441 A CN110099441 A CN 110099441A CN 201810087346 A CN201810087346 A CN 201810087346A CN 110099441 A CN110099441 A CN 110099441A
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- label
- base station
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- coordinate
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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
- 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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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of indoor wireless positioning methods, are made of the label that is no less than 3 base stations He can move freely, it may be determined that the three-dimensional position of label to be positioned.Emit and receive signal between base station, label mutually, target BS/label can be obtained with a distance from itself by the time difference that detectable signal sends and receives, d=c* (t/2).This distance constitutes one using transmitting base station as the centre of sphere in three-dimensional space, and the distance of base station to label is the spherical surface of radius.When only one base station, the position of label is limited on this spherical surface；When there are two base station, the position of label is limited on the circumference of two spherical surfaces intersection；When there are three base station, three spherical surfaces of formation intersect at a point, the three-dimensional space position of this i.e. label.With the movement of label, three obtained spherical surface size real-time change, intersection point also real-time change, so that it may obtain the spatial position of label to be positioned in real time, precision can achieve 10cm.
Description
Technical field
The present invention relates to a kind of localization method more particularly to a kind of indoor wireless 3-D positioning methods, belong to satellite navigation
Technical field.
Background technique
GPS --- global positioning system is presently most common localization method, is suitable for outdoor scene, and precision is reachable
To 10m.Indoor, if using GPS positioning, since the microwave signal of positioning system satellite transmitting is excessively faint, and frequency is very high,
It is difficult to across wall, so interior is difficult to normal received signal, locating effect is very poor.Indoor positioning needs indoor positioning module
Configuration uses.DWM1000DISCOVERY is the suite of tools developed using DW1000 indoor positioning chip as core.
DW1000 is the ultra-wide microarray strip researched and developed by Decawave company, which has good differentiation albedo (because of wall
The reflection of equal objects causes), to more accurately show shortest between two nodes (base station anchor and label tag)
Distance.It is laid out indoors many base stations (Anchor), available label (Tag) is surveyed with the distance of each base station according to these
The distance of amount can position label (Tag), similar GPS principle.If we merge inertial sensor and appropriate again
Algorithm, so that it may obtain label relative to base station (Anchor) more accurate location information.
Summary of the invention
The present invention consider the method for existing different indoor positioning it is different degrees of there are low precisions, at high cost, unsuitable
The features such as large-scale use, high layout requirements, the DWM1000 development board of Decawave company exploitation is relied on, applicant provides
A kind of indoor orientation method.The method establishes space coordinates by being arbitrarily laid out three base stations in space indoors, label with
It communicates with each other between base station, the distance between label to be measured and each base station can be calculated by the time that signal transmits, from
And determine the indoor three-dimensional position of label.The specific method is as follows:
1, three base stations of arbitrary placement in an interior space；
2, base station needs continued power；
3, base station continuously sends out pulse-modulated signal, base station is returned to after receiving signal by label to be positioned, by di=c*
(ti/ 2) can calculate label to be positioned to specific each base station distance, for each base station, the position of label to be positioned
All it is limited at (x-xi)2+(y-yi)2+(z-zi)2=ri 2Spherical surface on, (xi, yi, zi) it is known base station coordinates, ri=di。
Two spherical surfaces that any two base station and label to be positioned are formed will intersect at a circumference, and the position of label to be positioned is limited
It is scheduled on this circumference.Three spherical surfaces that any three base stations are formed with label to be positioned intersect at a point, this point is mark to be positioned
The position of label, by the method, label to be positioned can be positioned；
4, for the label to be positioned for being located at distal end, the intersecting area of three spherical surfaces will use in a long and narrow region
The location algorithm of single TOF (time of flight) has bigger error.For this problem, applicant is used
(in positioning, the position of label to be positioned will be limited at any two TDOA the location algorithm that TOF and TDOA are combined
Base station is that the coordinate of label to be positioned is determined by the position of 6 bi-curved intersections on the hyperboloid of focus), wherein TDOA
The position of label to be positioned will be limited in an elongated zones perpendicular with the elongated zones of TOF formation, two long and narrow
The public domain in region by be label to be positioned coordinate position.The method can be very good to solve that distal end position error is big to ask
Topic makes the coordinate value of the label to be positioned obtained have pinpoint accuracy.
Particularly, for more base stations, the positioning system of multi-tag, by setting specific reply of each base station to label signal
The period determining signal message that do not omit, do not judge label by accident.
The invention has the benefit that the present invention by space dispose be no less than 3 base stations establish space coordinates,
The space coordinate of label to be positioned is determined by the signal communication of each base station and label to be positioned.The method is suitable for various interiors
Environment, and have the characteristics that arrangement is simple, cost is relatively low, precision is high.
Detailed description of the invention
Diagram represents base station with black triangle.
Fig. 1 be a base station determine label position range to be positioned schematic diagram (label to be positioned be located at using base station as ball
The spherical surface of the heart).
Fig. 2 be two base stations determine label position range to be positioned schematic diagram (label to be positioned be located at two balls intersection
On circumference).
Fig. 3 be three base stations determine label position range to be positioned schematic diagram (label to be positioned be located at three balls intersection
Point).
Claims (2)
1. a kind of interior 3-D wireless location technology, is no less than three base stations by space layout indoors and determines label to be positioned
Indoor three-dimensional coordinate, method includes:
At least need to be located along the same line there are three base station, and cannot on sustained height (the position of i.e. three base stations
It cannot be in same level)；
Lasting to spatial emission pulse-modulated signal from base station, label to be positioned replys corresponding base station letter after receiving signal
Number, base station receives record this time stamp after the signal of tag return, and the time difference by issuing with receiving signal calculate to
Distance of the positioning label to base station, for a base station, this distance forms one using this base station as the centre of sphere,For
The spherical surface of radius, spherical formula are,It is base station coordinates,；
When there are two the information of base station, two spherical surfaces will intersect at a circumference；When there are three the information of base station, three spherical surfaces will
It can intersect at a point；
It is solved by three spherical formulas of simultaneous, is by this solution life, the corresponding spatial position of this solution, that is, to be positioned
The 3 d space coordinate of label；
When base station number more than three, system can preferentially select the base station information for being capable of forming the space geometry figure of rule true
The spatial position of fixed label to be positioned；
For the label to be positioned for being located at distal end, the intersecting area of three spherical surfaces will obtain in a long and narrow region
The position of label to be positioned has bigger error, the location algorithm that is combined using TOF and TDOA (TDOA in positioning,
The position of label to be positioned will be limited at using any two base station to pass through 6 bi-curved intersections on the hyperboloid of focus
Position determine the coordinate of label to be positioned, calculation formula
), TDOA algorithm will be limited in the position of label to be positioned
One elongated zones perpendicular with the elongated zones of TOF formation, the public domain of two elongated zones will be label to be positioned
Coordinate position, to obtain high-precision label position to be positioned.
2. a kind of indoor wireless positioning method according to claim 1, the obtained coordinate Value Data by wired or
It is wirelessly transmitted to central control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810087346.8A CN110099441A (en) | 2018-01-30 | 2018-01-30 | A kind of interior 3-D wireless location technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810087346.8A CN110099441A (en) | 2018-01-30 | 2018-01-30 | A kind of interior 3-D wireless location technology |
Publications (1)
| Publication Number | Publication Date |
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| CN110099441A true CN110099441A (en) | 2019-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810087346.8A Pending CN110099441A (en) | 2018-01-30 | 2018-01-30 | A kind of interior 3-D wireless location technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111988843A (en) * | 2020-08-12 | 2020-11-24 | 中国计量大学 | Base station self-calibration method |
| CN113791385A (en) * | 2021-09-15 | 2021-12-14 | 张维翔 | Three-dimensional positioning method and system |
| CN114269013A (en) * | 2021-12-14 | 2022-04-01 | 电子科技大学 | Indoor positioning method for interlayer transition area |
-
2018
- 2018-01-30 CN CN201810087346.8A patent/CN110099441A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111988843A (en) * | 2020-08-12 | 2020-11-24 | 中国计量大学 | Base station self-calibration method |
| CN113791385A (en) * | 2021-09-15 | 2021-12-14 | 张维翔 | Three-dimensional positioning method and system |
| CN114269013A (en) * | 2021-12-14 | 2022-04-01 | 电子科技大学 | Indoor positioning method for interlayer transition area |
| CN114269013B (en) * | 2021-12-14 | 2022-10-14 | 电子科技大学 | Indoor positioning method for interlayer transition area |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190806 |
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| WD01 | Invention patent application deemed withdrawn after publication |