CN110582059B - TDoA model-based system error estimation method for base station - Google Patents

TDoA model-based system error estimation method for base station Download PDF

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CN110582059B
CN110582059B CN201910811570.1A CN201910811570A CN110582059B CN 110582059 B CN110582059 B CN 110582059B CN 201910811570 A CN201910811570 A CN 201910811570A CN 110582059 B CN110582059 B CN 110582059B
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base station
uwb
tdoa
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uwb base
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CN110582059A (en
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朱光华
林权威
房宏
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Nanjing Wo Xu Wireless Co ltd
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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
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • 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
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements
    • 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
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings

Abstract

The invention discloses a TDoA model-based system error estimation method for a base station, which comprises the steps of obtaining a measured TDoA value between a UWB reference label and a UWB base station through a TDOA positioning process after a public base station is selected, obtaining a theoretical TDoA value between the UWB reference label and the UWB base station through calculation according to an actual position coordinate, obtaining a system error of the UWB base station through comparison and analysis of the measured TDoA value and the theoretical TDoA value, and correcting TDoA positioning calculation of the UWB base station by using the estimated system error so as to improve the overall positioning performance of the UWB base station.

Description

TDoA model-based system error estimation method for base station
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a system error estimation method of a base station based on a TDoA model.
Background
In the key supervision fields of pipe galleries, medical treatment, chemical industry and the like, the UWB wireless positioning technology is widely applied in a large number. Meanwhile, with research, popularization and application of industry 4.0, indoor wireless positioning is increasingly known and recognized by more industries. The UWB positioning technology has the characteristics of high precision and low power consumption, so the UWB positioning technology has wide prospect and good development momentum.
TDOA location is a method of location using time differences. By measuring the time of arrival of the signal at the base station, the distance of the tag can be determined. The location of the tag can be determined by the distance of the tag from each base station (circle is made with the base station as the center and the distance as the radius). However, the absolute time is generally difficult to measure, and by comparing the time difference of arrival of signals at each base station, a hyperbola with the base station as a focus and the distance difference as a major axis can be formed, and the intersection point of a plurality of hyperbolas is the position of the tag.
The existing UWB base station has certain errors in the installation and position measurement processes, and the hardware consistency of the base station has certain defects, so that the UWB base station possibly has certain system errors in the positioning process, and when the system errors exceed certain limits, the positioning performance of the tag can be obviously reduced.
Disclosure of Invention
The invention aims to provide a TDoA model-based system error estimation method for a base station, which comprises the steps of obtaining a measured TDoA value between a UWB reference label and a UWB base station through a TDOA positioning process after a public base station is selected, obtaining a theoretical TDoA value between the UWB reference label and the UWB base station through calculation according to an actual position coordinate, obtaining a system error of the UWB base station through comparison and analysis of the measured TDoA value and the theoretical TDoA value, and correcting TDoA positioning calculation of the UWB base station by using the estimated system error so as to improve the overall positioning performance of the UWB base station.
To achieve the above object, with reference to fig. 1, the present invention provides a method for estimating system error of a TDoA model-based base station, where the TDoA model-based base station includes at least one UWB base station; the UWB base station receives UWB data messages containing time stamp information sent by the UWB reference label, the UWB base station and the background computer communicate through the Ethernet, and the received UWB data messages are sent to the background computer.
The system error estimation method comprises the following steps:
s1: according to the set selection rule, one UWB base station is selected from all UWB base stations to be used as a public base station AmOther UWB base stations are denoted as Ai，i＝1,2,…,P，i≠m。
S2: acquiring actual position coordinates of the UWB reference tag and all UWB base stations, and calculating according to the following formula to obtain the UWB base station AiTheoretical TDoA value of
Figure BDA0002185203560000011
Figure BDA0002185203560000012
Wherein (x)0,y0,z0) Is the position coordinates of the UWB reference tag, (x)m,ym,zm) Is said public base station Am(x) position coordinates ofi,yi,zi) Is said UWB base station AiThe position coordinates of (a).
S3: combining UWB data messages received by each UWB base station, calculating each UWB base station A according to the following formulaiTo measureAmount TDoA value
Figure BDA0002185203560000021
Figure BDA0002185203560000022
Wherein, tsiIs a UWB base station AiTime stamp, ts, of the reception of a UWB data messagemIs the time stamp of the message of the sampling number received by the public base station, c0Is the speed of light.
S4: using theoretical TDoA and actual measured TDoA data, a calculation is made for a public base station a according to the following equationmEach UWB base station AiOf (d) system error τi：
Figure BDA0002185203560000023
In a further embodiment, in step S1, according to the set selection rule, one UWB base station is selected from all UWB base stations as the public base station amThe method comprises the following steps:
s11: loading UWB base station AiReceived UWB data messages to a buffer, each UWB base station AiThe number of the received UWB data messages is n;
s12: arbitrarily selecting one UWB base station as public base station AjIn conjunction with each UWB base station A in the bufferiReceived UWB data message to compute at the currently selected public base station AjLower UWB base station AiTo generate a time series of corresponding TDoA values
Figure BDA0002185203560000024
Each TDoA sequence has a length n, where i, j is 1,2, … P, i ≠ j;
s13: calculating the current public base station A according to the following formulajRespective UWB base station A under the conditioniOscillation index of time series of corresponding TDoA valuesij：
Figure BDA0002185203560000025
S14: counting the current public base station AjOscillation index of time series of TDoA values under conditionijLess than a set oscillation threshold0As the common base station AjThe corresponding number of TDoA smoothing sequences;
s15: and sequentially selecting all UWB base stations as public base stations, repeating the steps S12-S14 until the TDoA smooth sequence number of all UWB base stations as the public base stations is obtained through calculation, and defining the public base station with the maximum TDoA smooth sequence number as the finally used public base station.
In a further embodiment, in step S2, a laser rangefinder is used to obtain the actual position coordinates of the UWB base station, UWB reference tag.
In a further embodiment, the UWB base station communicates with a plurality of UWB reference tags that are distributed.
The UWB base station can obtain a UWB data message containing time stamp information after receiving a UWB signal sent by a UWB reference label, a background computer obtains the UWB data message of the UWB signal of the UWB reference label received by the UWB base station in a period of time, the background computer selects a reasonable public base station according to the UWB data message and calculates a measured TDoA value of the public base station according to an algorithm, then a theoretical TDoA value of the public base station is calculated by utilizing the position information of the UWB reference label and the UWB base station, and the difference value between the measured TDoA value and the theoretical TDoA value is an estimated value of a system error under the environmental condition, so that the estimation of the system error of the UWB base station is realized.
The invention only needs to arrange a small amount of reference tags which are convenient for measuring position coordinates in an actual UWB environment area, the deployment and the installation are simple and convenient, and meanwhile, the performance is obviously improved after the error correction of the base station estimated by using the algorithm is verified through actual verification on site.
Compared with the prior art, the technical proposal of the invention has the obvious beneficial effects that,
(1) after the public base station is selected, the system error of the UWB base station is calculated by comparing and analyzing the measured TDoA value of the distance obtained by the UWB reference tag and the UWB base station through the TDOA positioning process and the theoretical TDoA value obtained according to the actual position coordinate, and the TDoA data of the UWB base station is corrected by adopting the calculated system error so as to improve the positioning performance of each base station.
(2) Each base station selects a reference base station, the acquired data messages are processed to acquire oscillation indexes, one base station with the most stable performance is selected as a public base station, the selected public base station has good performance and obvious characteristics, and the public base station can be used as the public base station to calculate the system errors of all UWB base stations more accurately.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
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The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a system error estimation method of a base station based on a TDoA model according to the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
With reference to fig. 1, the present invention provides a method for estimating system error of a base station based on a TDoA model, where the base station based on the TDoA model includes at least one UWB base station; the UWB base station receives a UWB data message which is sent by a UWB reference label and contains timestamp information, the UWB base station and the background computer communicate through the Ethernet, and the received UWB data message is sent to the background computer; and the background computer is provided with a TDoA value calculation module which is used for calculating the measurement TDoA value of the UWB reference label according to the received UWB data message.
The system error estimation method comprises the following steps:
s1: according to the set selection rule, one UWB base station is selected from all UWB base stations to be used as a public base station AmOther UWB base stations are denoted as Ai，i＝1,2,…,P，i≠m。
S2: acquiring actual position coordinates of the UWB reference tag and all UWB base stations, and calculating according to the following formula to obtain the UWB base station AiTheoretical TDoA value of
Figure BDA0002185203560000041
Figure BDA0002185203560000042
Wherein (x)0,y0,z0) Is the position coordinates of the UWB reference tag, (x)m,ym,zm) Is said public base station Am(x) position coordinates ofi,yi,zi) Is said UWB base station AiThe position coordinates of (a).
S3: combining UWB data messages received by each UWB base station, calculating each UWB base station A according to the following formulaiMeasured TDoA value of
Figure BDA0002185203560000043
Figure BDA0002185203560000044
Wherein, tsiIs a UWB base station AiTime stamp, ts, of the reception of a UWB data messagemIs the time stamp of the message of the sampling number received by the public base station, c0Is the speed of light.
S4: using theoretical TDoA and actual measured TDoA data, a calculation is made for a public base station a according to the following equationmEach UWB base station AiOf (d) system error τi：
Figure BDA0002185203560000045
In a field application environment, according to spatial structure conditions, a certain number of UWB base stations and UWB reference tags are arranged, and the UWB reference tags periodically send UWB messages to the UWB base stations in a broadcast range to carry out TDoA positioning; the UWB base station is connected with the background computer through the Ethernet and is used for realizing control and data transmission. And the background computer receives the UWB messages transmitted by the base stations, selects one proper base station as a public base station, and calculates to obtain the measurement TDoA value of each UWB base station. Actual position coordinates of the UWB base station and the UWB reference label are measured by using a laser range finder and other tools, and a theoretical TDoA value of any UWB base station of the UWB reference label can be obtained according to the actual position coordinates. The background computer compares the measured TDoA value with the corresponding theoretical TDoA value, and the method provided by the invention is used for estimating the system error of each UWB base station.
As for the manner of reasonably selecting the public base station, the present invention proposes the following manner, and it should be understood that the standard and manner of selecting the public base station are not limited to the following examples.
In step S1, according to the set selection rule, one UWB base station is selected from all UWB base stations as a public base station amThe method comprises the following steps:
s11: loading UWB base station AiReceived UWB data messages to a buffer, each UWB base station AiThe number of received UWB data messages is n.
S12: arbitrarily selecting a UWB base station as a common baseStation AjIn conjunction with each UWB base station A in the bufferiReceived UWB data message to compute at the currently selected public base station AjLower UWB base station AiTo generate a time series of corresponding TDoA values
Figure BDA0002185203560000046
Each TDoA sequence has a length n, where i, j is 1,2, … P, i ≠ j.
S13: calculating the current public base station A according to the following formulajRespective UWB base station A under the conditioniOscillation index of time series of corresponding TDoA valuesij：
Figure BDA0002185203560000051
S14: counting the current public base station AjOscillation index of time series of TDoA values under conditionijLess than a set oscillation threshold0As the common base station AjCorresponding TDoA smoothing sequence number.
S15: and sequentially selecting all UWB base stations as public base stations, repeating the steps S12-S14 until the TDoA smooth sequence number of all UWB base stations as the public base stations is obtained through calculation, and defining the public base station with the maximum TDoA smooth sequence number as the finally used public base station.
By the method, the stability of the finally used public base station is ensured to be the highest and the public base station is adaptive to the maximum number of UWB base stations.
In some examples, the UWB base station communicates with R UWB reference tags that are distributed, where R is a positive integer greater than 1, and the R UWB reference tags all have known location information, and since environmental parameters of each UWB reference tag are different, when a certain UWB base station is corrected, the most appropriate UWB reference tag may be selected according to actual conditions, and the workflow of each UWB reference tag assisting the UWB base station to estimate its own system error is the same as that described above.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims (3)

1. A TDoA model-based system error estimation method for a base station is characterized in that the TDoA model-based base station comprises at least one UWB base station; the UWB base station receives a UWB data message which is sent by a UWB reference label and contains timestamp information, the UWB base station and the background computer communicate through the Ethernet, and the received UWB data message is sent to the background computer;
the system error estimation method comprises the following steps:
s1: according to the set selection rule, one UWB base station is selected from all UWB base stations to be used as a public base station AmOther UWB base stations are denoted as Ai，i＝1，2，...，P，i≠m；
S2: acquiring actual position coordinates of the UWB reference tag and all UWB base stations, and calculating according to the following formula to obtain the UWB base station AiTheoretical TDoA value of
Figure FDA0002604609670000011
Figure FDA0002604609670000012
Wherein (x)0，y0，z0) Is the position coordinates of the UWB reference tag, (x)m，ym，zm) Is said public base station Am(x) position coordinates ofi，yi，zi) Is said UWB base station AiThe position coordinates of (a);
s3: combining UWB data messages received by each UWB base station, calculating each UWB base station A according to the following formulaiMeasured TDoA value of
Figure FDA0002604609670000013
Figure FDA0002604609670000014
Wherein, tsiIs a UWB base station AiTime stamp, ts, of the reception of a UWB data messagemIs the time stamp of the message of the sampling number received by the public base station, c0Is the speed of light;
s4: using theoretical TDoA and actual measured TDoA data, a calculation is made for a public base station a according to the following equationmEach UWB base station AiOf (d) system error τi：
Figure FDA0002604609670000015
In step S1, according to the set selection rule, one UWB base station is selected from all UWB base stations as a public base station amThe method comprises the following steps:
s11: loading UWB base station AiReceived UWB data messages to a buffer, each UWB base station AiThe number of the received UWB data messages is n;
s12: arbitrarily selecting one UWB base station as public base station AjIn conjunction with each UWB base station A in the bufferiReceived UWB data message to compute at the currently selected public base station AjLower UWB base station AiTo generate a time series of corresponding TDoA values
Figure FDA0002604609670000016
Each TDoA sequence has a length n, where i, j is 1, 2.. P, i ≠ j;
s13: calculating the current public base station A according to the following formulajRespective UWB base station A under the conditioniOscillation index of time series of corresponding TDoA valuesij：
Figure FDA0002604609670000017
S14: counting the current public base station AjOscillation index of time series of TDoA values under conditionijLess than a set oscillation threshold0As the common base station AjThe corresponding number of TDoA smoothing sequences;
s15: and sequentially selecting all UWB base stations as public base stations, repeating the steps S12-S14 until the TDoA smooth sequence number of all UWB base stations as the public base stations is obtained through calculation, and defining the public base station with the maximum TDoA smooth sequence number as the finally used public base station.
2. The TDoA model-based systematic error estimation method for base station according to claim 1, wherein in step S2, a laser range finder is used to obtain the actual position coordinates of the UWB base station and the UWB reference tag.
3. The method of claim 1, wherein the UWB base station communicates with a plurality of UWB reference tags distributed in a manner.
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US6646604B2 (en) * 1999-01-08 2003-11-11 Trueposition, Inc. Automatic synchronous tuning of narrowband receivers of a wireless location system for voice/traffic channel tracking
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