CN111698773A - Chain table positioning method for improving UWB positioning effect - Google Patents
Chain table positioning method for improving UWB positioning effect Download PDFInfo
- Publication number
- CN111698773A CN111698773A CN202010573853.XA CN202010573853A CN111698773A CN 111698773 A CN111698773 A CN 111698773A CN 202010573853 A CN202010573853 A CN 202010573853A CN 111698773 A CN111698773 A CN 111698773A
- Authority
- CN
- China
- Prior art keywords
- positioning
- ranging
- anchor point
- anchor
- linked list
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a linked list positioning method for improving UWB positioning effect, which comprises the following steps: step S1: initializing an anchor structure array; step S2: according to the state of each anchor point, emptying related data, and selectively performing direct anchor point ranging or anchor point matching; step S3: calculating the minimum number of anchor points completing ranging and the maximum number of anchor points completing ranging, and performing ranging with the maximum number of anchor points once every three times; step S4: executing a preset distance measurement step; step S5: and after the specified anchor point number is completely measured, updating the state of each anchor point. The linked list positioning method for improving the UWB positioning effect achieves the positioning effect which is stable and accurate through the scheme of adjusting the positioning distance measuring strategy under the condition of not changing the appearance of equipment or increasing the equipment or the positioning cost, and has simple data structure and small data volume.
Description
Technical Field
The invention belongs to the technical field of UWB positioning, and particularly relates to a linked list positioning method for improving UWB positioning effect.
Background
With the continuous maturity of the positioning technology, the application range of the positioning technology is also continuously expanded, and the emerging positioning application is no longer limited to the outdoor scene. And new requirements are provided for indoor positioning, outdoor high-precision positioning and the like. Such as precise location based admission and ban, accident rescue, personnel management, etc.
Currently, 2 positioning algorithms, TOF and TDOA, are mainly used for mainstream UWB positioning.
First, TOF algorithm is introduced.
Two-way time-of-flight (TW-TOF) each module generates a separate timestamp from start-up. The transmitter Ta1 of module a transmits a pulse signal of requesting nature on its time stamp, and module B transmits a signal of responding nature at the time Tb2, which is received by module a at the time of its own time stamp Ta 2. The time of flight of the pulse signal between the two modules can be calculated at times, so as to determine the flight distance S. S ═ Cx [ (Ta2-Ta1) - (Tb2-Tb1) ] (C is the speed of light).
The TOF ranging method belongs to a two-way ranging technology and mainly utilizes the flight time of a signal between two asynchronous transceivers (transceivers) to measure the distance between nodes. Because the ranging method based on TOF is linear with distance under the condition of sight line of sight, the result is more accurate. Let us note the time interval between the data packet sent by the sending end and the response received as TTOT, and the time interval between the data packet received by the receiving end and the response sent as TTAT, then the time TTOF of the data packet in one-way flight in the air can be calculated as: TTOF ═ TTOT/2.
Then, the distance D between two points is CxTTOF calculated according to the TTOF and the result of the electromagnetic wave propagation speed.
Secondly, TDOA algorithm introduction.
Referring to fig. 1 of the drawings, when a UWB positioning tag transmits a UWB signal once to the outside, all base stations within the wireless coverage area of the tag receive the wireless signal, and if two base stations with known coordinate points receive the signal, the interval between the tag and the two base stations is different, and the time points when the two base stations receive the signal are different.
For example, a young mother shouts "young Ming" in a village, goes home to eat a meal! ", where the speed is constant (the speed of sound traveling in air is 340m/s)," the time of sound travel is determined by the distance, and thus the point in time at which the sound of the mom is heard by the person in village is not the same.
Similarly, the distance between the tag and different UWB positioning base stations is different, and the time nodes of different base stations receiving the same tag signal are different, so that an arrival time difference is obtained.
The principle of TDOA location is to determine the location of a tag by using the time difference between the signals received by multiple base stations.
According to the mathematical relationship, the distance difference between two known points is constant, that is, the time difference between signals sent by the tag to two base stations is constant, and the position of the tag is always on a hyperbolic curve taking the two points as the focus. Then there are four known points (four positioning base stations) and there are four hyperbolas that intersect at one point, which is the position of the UWB positioning tag.
Referring to FIG. 2 of the drawings, the TDOA specific algorithm is set forth below.
Let ti (i ═ 1,2,3,4.. n) be the time when the tag receives the UWB signal emitted by the tag at the nth base station, and let ri be the distance from the tag to the nth base station (i ═ 1,2,3,4.. n).
In the case of perfect synchronization between the base stations, the distance differences di 12-di 14 of the positioning tags with respect to four sets of positioning base stations (assuming 1#, 2# as the first set, 2#, 3# as the second set, 3#, 4# as the third set, and 4#, 1# as the fourth set) are:
assuming that N base stations are distributed in the space, a hyperbolic equation set related to the position of the tag can be formed by using a plurality of TDOA measured values, and the tag coordinates can be obtained by solving the equation set.
TDOA does not need to carry out reciprocating communication between a UWB positioning tag and a positioning base station, and only needs the positioning tag to transmit a UWB signal once, so that the working time is shortened, the power consumption is also greatly reduced, and higher positioning dynamic and positioning capacity can be realized.
The two algorithms have advantages and disadvantages, which are described below.
It can be seen from the above description that no matter which positioning algorithm is based on. When personnel carry the label and walk under the environment that is covered with the location anchor point, the location label can carry out the range finding with the different location anchor point of periphery, and the backstage calculates the label position according to range finding information and reachs label position coordinate information. And only 3 (TOF) or 4 (TODA) distance measurement information is needed for actual calculation to sufficiently calculate the position coordinates of the person.
Disadvantage 1: under the condition of not adding the linked list optimization algorithm, the positioning labels perform distance measurement with all positioning anchor points in the peripheral distance measurement range, and the distance measurement quantity is large. And only 3 (TOF) or 4 (TODA) ranging information is needed for actual calculation to sufficiently calculate the position coordinates of the label. Data redundancy is caused, calculation load is increased, and data processing efficiency is reduced.
And (2) disadvantage: the positioning anchor point and the positioning label can occupy a communication channel in a short time during ranging, and the positioning anchor point cannot range with other labels in the time period. When the number of the positioning tags in a certain range is increased, the problem that channels are occupied when the positioning tags are positioned at the same time is caused, and the positioning fails. Namely, the problem of simultaneously locating the capacity of the tags under one locating unit. If not when adding the linked list, location label can be with all anchor points that can range a distance of periphery and range, only with nearest 3 or 4 after adding the linked list range, other location anchor points just can range a distance with other labels, increase system location label's capacity.
Disadvantage 3: the positioning tag has errors during ranging, the errors are related to the distance, and the longer the distance, the larger the influence of the surrounding environment on the wireless signal is, and the more obvious the errors are. The error is also related to the peripheral shielding condition, and the non-shielding distance measurement is more accurate. Under the condition of not adding the linked list optimization algorithm, the positioning label cannot carry out distance measurement with the nearest 3 or 4 anchor points, and the anchor points which are not shielded cannot be autonomously selected to carry out distance measurement. The positioning effect is not very ideal.
Disclosure of Invention
Aiming at the state of the prior art, the invention overcomes the defects and provides a linked list positioning method for improving the UWB positioning effect.
The invention adopts the following technical scheme that the linked list positioning method for improving the UWB positioning effect comprises the following steps:
step S1: initializing an anchor structure array;
step S2: according to the state of each anchor point, emptying related data, and selectively performing direct anchor point ranging or anchor point matching;
step S3: calculating the minimum number of anchor points completing ranging and the maximum number of anchor points completing ranging, and performing ranging with the maximum number of anchor points once every three times;
step S4: executing a preset distance measurement step;
step S5: after all specified anchor points are subjected to ranging, updating the state of each anchor point;
step S6: comparing the ranging results of all anchor points, and uploading the ranging data of the minimum 3 anchor points;
step S7: determining the anchor point with the minimum ranging result as a core anchor point;
step S8: and judging whether the linked list under the core anchor point is searched, if the judgment is successful, setting the states of all anchor points of the linked list as direct ranging and simultaneously acquiring relevant data, and if not, repeatedly executing the step S2.
According to the above technical solution, as a further preferable technical solution of the above technical solution, in step S4, the preset distance measuring step is specifically implemented as the following steps:
and executing different ranging strategies according to different states of the anchor points, and performing ranging with the maximum number of anchor points when ranging of any anchor point fails.
According to the above technical solution, as a further preferred technical solution of the above technical solution, in step S8, the linked list is already generated as a program and burned into the positioning tag, and the server background analyzes and reads the linked list policy in the positioning tag to control the execution in the positioning process.
According to the above technical solution, as a further preferable technical solution of the above technical solution, in step S8, the rule of the linked list is already directly written into a background analysis algorithm, and the linked list policy rule is directly executed in combination with the location of the field location tag to perform the calculation and location in the process of performing the location calculation, without reading the program in the tag.
According to the above technical solution, as a further preferable technical solution of the above technical solution, in step S2, the anchor points are specifically implemented as 5 anchor points having a priority positioning policy order.
According to the above technical solution, as a further preferable technical solution of the above technical solution, the 5 anchor points having the priority positioning policy order may alternate with each other.
According to the above technical solution, as a further preferred technical solution of the above technical solution, the implementation of the 5 anchor points with the priority positioning policy order is as follows: the system comprises a main core anchor point, a ranging anchor point 1, a ranging anchor point 2, a monitoring anchor point 1 and a monitoring anchor point 2.
According to the above technical solution, as a further preferred technical solution of the above technical solution, the selecting step of the main core anchor point is: and after every N ranging periods, the positioning label and 5 anchor points which take the main core anchor point as a strategy are subjected to ranging once, and the anchor point which is closest to the ranging in the 5 ranging anchor points is selected as a new main core anchor point.
According to the above aspect, N is 3 times as a more preferable aspect of the above aspect.
According to the above technical solution, as a further preferable technical solution of the above technical solution, the step S8 is specifically implemented as the following steps:
step S8.1: making a strategy table, taking each anchor point as a core anchor point, and sequentially making positioning strategies of the anchor points;
step S8.2: saving the excel table file type as CSV, and adopting comma to separate;
step S8.3: converting the manufactured policy table into a program which can be burnt into the label through a script program;
step S8.4: and burning the generated program into the positioning label through a serial port line.
The linked list positioning method for improving the UWB positioning effect has the advantages that under the condition that the appearance of equipment is not changed, or the equipment is not increased and the positioning cost is not increased, the positioning effect which is stable and accurate is achieved through the scheme of adjusting the positioning distance measuring strategy, the data structure is simple, and the data volume is small.
Drawings
FIG. 1 is a schematic diagram of the operation of a conventional TDOA algorithm.
FIG. 2 is a schematic diagram of the operation of a conventional TDOA algorithm.
Fig. 3 is a block flow diagram of the present invention.
Detailed Description
The invention discloses a linked list positioning method for improving UWB positioning effect, and the following describes the specific implementation mode of the invention in combination with the preferred embodiment.
Referring to fig. 3 of the drawings, fig. 3 shows a related flow of a linked list positioning method for improving UWB positioning effect.
It should be noted that "anchor point", "positioning anchor point", and the like, which may be involved in the embodiments of the present invention, are the same concept and are not distinguished.
It should be noted that the "main core anchor", "main core anchor 1", "core anchor", "core ranging anchor", and the like, which may be involved in the embodiments of the present invention, are the same concept and are not distinguished.
Preferred embodiment (TOF linked list burn).
Preferably, the linked list positioning method for improving the UWB positioning effect includes the following steps:
step S1: initializing an anchor structure array;
step S2: according to the state of each anchor point, emptying related data, and selectively performing direct anchor point ranging or anchor point matching;
step S3: calculating the minimum number of anchor points completing ranging and the maximum number of anchor points completing ranging, and performing ranging with the maximum number of anchor points once every three times;
step S4: executing a preset distance measurement step;
step S5: after all specified anchor points are subjected to ranging, updating the state of each anchor point;
step S6: comparing the ranging results of all anchor points, and uploading the ranging data of the minimum 3 anchor points;
step S7: determining the anchor point with the minimum ranging result as a core anchor point;
step S8: and judging whether the linked list under the core anchor is found, if the judgment is successful (the linked list under the core anchor is found), setting the states of all the anchors of the linked list to be the direct ranging, and simultaneously, obtaining the relevant data, and if not, repeatedly executing the step S2.
Further, in step S4, the preset ranging step is specifically implemented as the following steps:
and executing different ranging strategies according to different states of the anchor points, and performing ranging with the maximum number of anchor points when ranging of any anchor point fails.
Further, in step S8, the linked list is generated as a program and burned into the location tag, and the server background parses and reads the linked list policy in the location tag to control the execution in the location process.
Wherein, step S8 is specifically implemented as the following steps:
step S8.1: making a strategy table, taking each anchor point as a core anchor point, and sequentially making positioning strategies of the anchor points;
step S8.2: saving the excel table file type as CSV, and adopting comma to separate;
step S8.3: converting the manufactured policy table into a program which can be burnt into the label through a script program;
step S8.4: and burning the generated program into the positioning label through a serial port line.
Further, in step S2, the anchor points are embodied as 5 anchor points having a priority positioning policy order (the priority orders of the 5 anchor points may be rotated with each other).
Wherein, the 5 anchor points with the priority positioning strategy sequence are specifically implemented as: the system comprises a main core anchor point, a ranging anchor point 1, a ranging anchor point 2, a monitoring anchor point 1 and a monitoring anchor point 2.
It is worth mentioning that the selection step of the main core anchor point is as follows: and after every N ranging periods (the period times are adjustable), the positioning label and 5 anchor points which take the main core anchor point as a strategy are subjected to ranging once, and the anchor point which has the nearest ranging in the 5 ranging anchor points is selected as a new main core anchor point.
Among them, N is preferably 3 times.
According to the technical solution disclosed above in this embodiment, the main technical principle and implementation process thereof are described as follows.
Specifically, the required positioning device: 5 positioning anchor points are arranged; the number of the positioning labels is 1.
Specifically, the ranging positioning is performed by a combination of 5 positioning anchors, and the positioning strategy sequence of the 5 positioning anchors is as follows: the system comprises a main core anchor point, a ranging anchor point 1, a ranging anchor point 2, a monitoring anchor point 1 and a monitoring anchor point 2.
Firstly, when walking with the positioning tag burning the linked list program, the positioning tag itself will firstly send out the positioning broadcast signal to actively search the positioning anchor point. In the above process, if a certain positioning anchor receives a broadcast signal sent by a label, a positioning connection is immediately established with the positioning label, and a linked list strategy when the anchor is a main core anchor is forcibly executed by following a linked list program rule burnt in advance by the positioning label, so as to complete positioning and ranging.
For example, when anchor 1 is the main core anchor, then there will be a linked list policy belonging to the case where anchor 1 is the core anchor, and the order of the location policy is: the system comprises a main core anchor point 1, a ranging anchor point 2, a ranging anchor point 3, a monitoring anchor point 1 and a monitoring anchor point 2. When the location label uses anchor point 1 to be the walking in-process when giving first place to the core anchor point, can with range finding anchor point 2, range finding anchor point 3 carry out the location of finding range in 5 anchor points that take anchor point 1 as the head, monitor anchor point 1, monitor anchor point 2 and for monitoring reserve anchor point, monitor the effect of anchor point and be: if the distance between 1 to 2 anchor points and the positioning label in the first 3 distance measuring anchor points is too far or the signal is invalid, the 2 monitoring anchor points are 'replacement team members' to participate in the distance measurement with the positioning label in time, and the replacement sequence is the monitoring anchor point 1 and the monitoring anchor point 2.
The positioning and ranging frequency of the positioning label and the anchor point is 1 second/time (frequency is adjustable), and after every 3 ranging periods (cycle times are adjustable), the positioning label can perform ranging once with 5 anchor points which use the main core anchor point 1 as a strategy, the anchor point with the nearest ranging in the 5 ranging anchor points is selected as a (new) core anchor point, the ranging anchor point 1 and the ranging anchor point 2 which are appointed when the anchor point is taken as the core anchor point are continuously executed for ranging, and the rest 2 anchor points are set as monitoring standby anchor points. If no valid ranging signal can be found in the 5 anchor points in the period, the tag will recover to the initial positioning state, that is, the positioning tag itself will actively send out a positioning broadcast signal, and actively search for a nearby positioning anchor point to establish a ranging connection until the ranging connection is successfully established.
Thus, when the positioning tag moves, the mechanism of the linked list positioning strategy updates the core ranging anchor in real time and executes the positioning strategy of the core anchor. Therefore, each anchor point needs to set or make a positioning strategy when the anchor point is taken as a core anchor point. According to the scheme, after the positioning linked list is manufactured, the linked list is generated into a program to be burnt into the positioning label, and the linked list strategy in the positioning label is analyzed and read by the server background in the positioning process to control execution.
A first embodiment.
The first embodiment is basically the same as the preferred embodiment (the positioning device, technical principle and implementation process are the same), except that: in the preferred embodiment, the linked list is generated as a program burnt into the positioning label, and the linked list strategy in the positioning label is analyzed and read by the server background in the positioning process to control the execution. The first embodiment is to directly write the linked list rule strategy into the background analysis algorithm, and directly execute the linked list rule strategy in combination with the site location label position to perform calculation and location in the process of location calculation without reading the program in the label.
Preferably, the linked list positioning method for improving the UWB positioning effect includes the following steps:
step S1: initializing an anchor structure array;
step S2: according to the state of each anchor point, emptying related data, and selectively performing direct anchor point ranging or anchor point matching;
step S3: calculating the minimum number of anchor points completing ranging and the maximum number of anchor points completing ranging, and performing ranging with the maximum number of anchor points once every three times;
step S4: executing a preset distance measurement step;
step S5: after all specified anchor points are subjected to ranging, updating the state of each anchor point;
step S6: comparing the ranging results of all anchor points, and uploading the ranging data of the minimum 3 anchor points;
step S7: determining the anchor point with the minimum ranging result as a core anchor point;
step S8: and judging whether the linked list under the core anchor is found, if the judgment is successful (the linked list under the core anchor is found), setting the states of all the anchors of the linked list to be the direct ranging, and simultaneously, obtaining the relevant data, and if not, repeatedly executing the step S2.
Further, in step S4, the preset ranging step is specifically implemented as the following steps:
and executing different ranging strategies according to different states of the anchor points, and performing ranging with the maximum number of anchor points when ranging of any anchor point fails.
Further, in step S8, the rule of the linked list is written directly into the background parsing algorithm, and the linked list policy rule is executed directly in combination with the field location tag position to perform the calculation and location in the process of performing the location calculation, without reading the program in the tag.
Further, in step S2, the anchor points are embodied as 5 anchor points having a priority positioning policy order (the priority order of the 5 anchor points may be rotated according to a corresponding rule).
Wherein, the 5 anchor points with the priority positioning strategy sequence are specifically implemented as: the system comprises a main core anchor point, a ranging anchor point 1, a ranging anchor point 2, a monitoring anchor point 1 and a monitoring anchor point 2.
It is worth mentioning that the selection step of the main core anchor point is as follows: and after every N ranging periods (the period times are adjustable), the positioning label and 5 anchor points which take the main core anchor point as a strategy are subjected to ranging once, and the anchor point which has the nearest ranging in the 5 ranging anchor points is selected as a new main core anchor point.
Among them, N is preferably 3 times.
The linked list positioning method for improving the UWB positioning effect disclosed by each embodiment of the invention has the following main characteristics.
Firstly, improve location efficiency and data processing efficiency: the successful positioning once only needs to be carried out with the ranging of 3 to 4 anchor points, and the ranging of all the anchor points around is not needed.
Secondly, the capacity of the positioning system label is improved: because one-time positioning does not need ranging with all surrounding anchor points, the occupied quantity and time of channels are reduced.
Thirdly, positioning accuracy and stability are improved: the positioning labels and which positioning anchor points are manually controllable during ranging, and the nearest positioning anchor point without shielding can be selected for ranging.
It should be noted that technical features such as specific types of positioning tags related to the present patent application should be regarded as the prior art, specific structures, operation principles, control manners and spatial arrangement manners of the technical features should be selected conventionally in the field, and should not be regarded as the points of the present patent, and the present patent is not further specifically described in detail.
It will be apparent to those skilled in the art that modifications and equivalents may be made in the embodiments and/or portions thereof without departing from the spirit and scope of the present invention.
Claims (10)
1. A linked list positioning method for improving UWB positioning effect is characterized by comprising the following steps:
step S1: initializing an anchor structure array;
step S2: according to the state of each anchor point, emptying related data, and selectively performing direct anchor point ranging or anchor point matching;
step S3: calculating the minimum number of anchor points completing ranging and the maximum number of anchor points completing ranging, and performing ranging with the maximum number of anchor points once every three times;
step S4: executing a preset distance measurement step;
step S5: after all specified anchor points are subjected to ranging, updating the state of each anchor point;
step S6: comparing the ranging results of all anchor points, and uploading the ranging data of the minimum 3 anchor points;
step S7: determining the anchor point with the minimum ranging result as a core anchor point;
step S8: and judging whether the linked list under the core anchor point is searched, if the judgment is successful, setting the states of all anchor points of the linked list as direct ranging and simultaneously acquiring relevant data, and if not, repeatedly executing the step S2.
2. The linked list positioning method for improving the UWB positioning effect according to claim 1, wherein in step S4, the preset ranging step is implemented as the following steps:
and executing different ranging strategies according to different states of the anchor points, and performing ranging with the maximum number of anchor points when ranging of any anchor point fails.
3. The linked list positioning method for improving UWB positioning effect as defined in claim 1, wherein in step S8, the linked list is generated as a program and burned into a positioning tag, and the server performs background parsing and reading of the linked list policy in the positioning tag to control the implementation of the positioning process.
4. The linked list positioning method for improving the UWB positioning effect according to claim 1, wherein in step S8, the rules of the linked list are written directly into a background analysis algorithm, and the linked list policy rules are executed directly in combination with the location of the field positioning tag during the positioning calculation, so as to perform the calculation positioning without reading the program in the tag.
5. A linked list positioning method for improving UWB positioning effect according to any of claims 1-4, characterized in that in step S2, the anchor point is embodied as 5 anchor points with priority positioning strategy order.
6. The linked list positioning method for improving UWB positioning effect of claim 5 wherein the 5 anchor points with priority positioning strategy order can be rotated each other.
7. The linked list positioning method for improving the UWB positioning effect according to claim 5, wherein the 5 anchor points having the priority positioning policy order are implemented as: the system comprises a main core anchor point, a ranging anchor point 1, a ranging anchor point 2, a monitoring anchor point 1 and a monitoring anchor point 2.
8. The linked list positioning method for improving the UWB positioning effect according to claim 7, wherein the selection step of the main core anchor point is as follows: and after every N ranging periods, the positioning label and 5 anchor points which take the main core anchor point as a strategy are subjected to ranging once, and the anchor point which is closest to the ranging in the 5 ranging anchor points is selected as a new main core anchor point.
9. The linked list positioning method for improving the UWB positioning effect of claim 8 wherein N is 3 times.
10. A linked list positioning method for improving UWB positioning effect according to any of claims 1-3, wherein the step S8 is implemented as the following steps:
step S8.1: making a strategy table, taking each anchor point as a core anchor point, and sequentially making positioning strategies of the anchor points;
step S8.2: saving the excel table file type as CSV, and adopting comma to separate;
step S8.3: converting the manufactured policy table into a program which can be burnt into the label through a script program;
step S8.4: and burning the generated program into the positioning label through a serial port line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010573853.XA CN111698773B (en) | 2020-06-22 | 2020-06-22 | Chain table positioning method for improving UWB positioning effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010573853.XA CN111698773B (en) | 2020-06-22 | 2020-06-22 | Chain table positioning method for improving UWB positioning effect |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111698773A true CN111698773A (en) | 2020-09-22 |
| CN111698773B CN111698773B (en) | 2022-05-31 |
Family
ID=72482804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010573853.XA Active CN111698773B (en) | 2020-06-22 | 2020-06-22 | Chain table positioning method for improving UWB positioning effect |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111698773B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101232718A (en) * | 2007-01-22 | 2008-07-30 | 华为技术有限公司 | Distance measuring method, equipment and system |
| CN202135332U (en) * | 2011-07-22 | 2012-02-01 | 上海同安智能科技有限公司 | Positioner based on UWB and CDMA hybrid positioning technology |
| CN103561485A (en) * | 2013-11-05 | 2014-02-05 | 重庆基伍科技有限公司 | Wireless positioning base station and method fusing WIFI and CSS |
| WO2016209006A1 (en) * | 2015-06-26 | 2016-12-29 | 이원삼 | Method for ordering from food menu in near-field wireless communication device environment |
| CN108594215A (en) * | 2018-04-04 | 2018-09-28 | 重庆人文科技学院 | A kind of multi-point cooperative high precision wireless distance-measuring and positioning method |
| CN208509284U (en) * | 2018-08-23 | 2019-02-15 | 河北云酷科技有限公司 | Three-dimensional localization safety management system based on UWB technology |
| CN109600706A (en) * | 2017-09-29 | 2019-04-09 | 北京布科思科技有限公司 | Detect and calculate the method and system of uwb anchor point coordinate |
| KR20190063807A (en) * | 2017-11-30 | 2019-06-10 | 한양대학교 산학협력단 | Method and apparatus for measuring distance using BLE |
| CN110351655A (en) * | 2019-07-10 | 2019-10-18 | 博睿泰克科技（宁波）有限公司 | A kind of indoor orientation method and system based on the measurement of signal multipath transmisstion |
| CN110650434A (en) * | 2019-11-19 | 2020-01-03 | 南京科远智慧科技集团股份有限公司 | Following positioning method based on UWB technology |
-
2020
- 2020-06-22 CN CN202010573853.XA patent/CN111698773B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101232718A (en) * | 2007-01-22 | 2008-07-30 | 华为技术有限公司 | Distance measuring method, equipment and system |
| CN202135332U (en) * | 2011-07-22 | 2012-02-01 | 上海同安智能科技有限公司 | Positioner based on UWB and CDMA hybrid positioning technology |
| CN103561485A (en) * | 2013-11-05 | 2014-02-05 | 重庆基伍科技有限公司 | Wireless positioning base station and method fusing WIFI and CSS |
| WO2016209006A1 (en) * | 2015-06-26 | 2016-12-29 | 이원삼 | Method for ordering from food menu in near-field wireless communication device environment |
| CN109600706A (en) * | 2017-09-29 | 2019-04-09 | 北京布科思科技有限公司 | Detect and calculate the method and system of uwb anchor point coordinate |
| KR20190063807A (en) * | 2017-11-30 | 2019-06-10 | 한양대학교 산학협력단 | Method and apparatus for measuring distance using BLE |
| CN108594215A (en) * | 2018-04-04 | 2018-09-28 | 重庆人文科技学院 | A kind of multi-point cooperative high precision wireless distance-measuring and positioning method |
| CN208509284U (en) * | 2018-08-23 | 2019-02-15 | 河北云酷科技有限公司 | Three-dimensional localization safety management system based on UWB technology |
| CN110351655A (en) * | 2019-07-10 | 2019-10-18 | 博睿泰克科技（宁波）有限公司 | A kind of indoor orientation method and system based on the measurement of signal multipath transmisstion |
| CN110650434A (en) * | 2019-11-19 | 2020-01-03 | 南京科远智慧科技集团股份有限公司 | Following positioning method based on UWB technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111698773B (en) | 2022-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107315166B (en) | System and method for positioning microsatellite base station based on single or multiple Bluetooth transmitting units | |
| KR100671283B1 (en) | System and method for asynchronous wireless positioning by ordered transmission | |
| KR100972081B1 (en) | Method on localization message process supporting mobility of wireless node | |
| CN109683130B (en) | Positioning method, positioning device, storage medium and processor | |
| US8982774B2 (en) | Method for ranging to a station in power saving mode | |
| US8958433B2 (en) | Method and apparatus for extending an awake state of a station | |
| CN102253367A (en) | Ultrasonic wave based indoor three-dimensional positioning system and method | |
| CN110113788A (en) | A kind of tag location method, system and device | |
| CN103491506A (en) | Method and system for cooperatively locating heterogeneous network based on WLAN and WSN | |
| CN103648164A (en) | Time difference of arrival and Gossip algorithm based wireless sensor network distributed positioning method | |
| Liang et al. | Localization algorithm based on improved weighted centroid in wireless sensor networks | |
| CN102279382A (en) | Receiver system, arrangement method thereof and positioning system comprising receiver system | |
| CN102395193A (en) | Method for locating wireless sensor network (WSN) | |
| CN109547929B (en) | Distributed sensor node positioning method based on conjugate gradient method | |
| KR20150041240A (en) | System and Method of Collaborative Localization Using Short Range Wireless Communication Network Without Location Infrastructure | |
| Terwilliger et al. | A localization system using wireless network sensors: A comparison of two techniques | |
| CN112964258B (en) | Multi-unit cooperative positioning system based on TDOA | |
| Klogo et al. | Energy constraints of localization techniques in wireless sensor networks (WSN): A survey | |
| Badawy et al. | Decision tree approach to estimate user location in WLAN based on location fingerprinting | |
| CN102291819B (en) | Approximate point-in-triangulation test (APIT) positioning method for wireless sensor network (WSN) based on automatic region adjustment | |
| CN111698773B (en) | Chain table positioning method for improving UWB positioning effect | |
| KR102052519B1 (en) | Indoor Positioning Method and Apparatus Based on Bluetooth Low Energy | |
| Zhang et al. | An event-triggered localization algorithm for mobile wireless sensor networks | |
| CN109413735A (en) | Localization method and device are searched for based on the unmanned aerial vehicle group two-way simultaneous for closing on perception | |
| CN110351657A (en) | A kind of method of wireless sensor network interior joint geometry location |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |