CN204166130U - Radio frequency locating device and system - Google Patents
Radio frequency locating device and system Download PDFInfo
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- CN204166130U CN204166130U CN201420657507.XU CN201420657507U CN204166130U CN 204166130 U CN204166130 U CN 204166130U CN 201420657507 U CN201420657507 U CN 201420657507U CN 204166130 U CN204166130 U CN 204166130U
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Abstract
The utility model provides a kind of radio frequency locating device and system, and radio frequency locating device comprises: directional antenna, in the radiofrequency signal that primary importance adopts the electronic tag of different position angles and angle of pitch reception measured target to send; Azimuth-drive motor, connects described directional antenna, drives described directional antenna to carry out tangential movement; Pitching motor, connects described directional antenna, drives described directional antenna to carry out luffing; Motor control unit, connects described azimuth-drive motor and described pitching motor, controls the motion of described azimuth-drive motor and described pitching motor, and sends position angle and the angle of pitch information of described directional antenna to information process unit; Rf receiver unit, connects described directional antenna, receives the radiofrequency signal from described directional antenna; Information process unit, connects described rf receiver unit and described motor control unit, processes described radiofrequency signal, described position angle and angle of pitch information, generates the geographic coordinate of measured target.
Description
Technical field
The utility model relates to dynamo-electric proving installation and instrument field, particularly a kind of radio frequency locating device and system, more particularly, relates to a kind of comprehensive long-range radio-frequency locating device and system of extraterrestrial target.
Background technology
In specific environment, existing localization method and means are relied on to be difficult to realize the three-dimensional fix of distant object.Such as: although GPS and architecture have the advantages that coverage is large and versatility is good, but be easily subject to the impact of environment, high-precision low cost location cannot be realized at enclosure space regions such as () such as underground parking, mine or warehouses without GPS or base station signal; Infrared ray indoor positioning is only applicable to short distance and propagates, and is very easily subject to the impact of fluorescent light or other light sources; Although ultrasound wave location has higher positioning precision, affect very large by multipath effect and non-line-of-sight propagation; Bluetooth location technology is equally by the restriction of orientation distance, and less stable, be easily subject to noise signal interference.By the restriction of station-keeping mode, these methods are difficult to the accurate location of implementation space target as longitude, latitude and height.Radar fix is mainly used in search plane, and apparatus expensive, bulky, be not suitable for general location.
Radio-frequency (RF) identification and location technology utilize the communication between read write line and electronic tag to come identification and the exchanges data of realize target, can be used for various rugged surroundings, are considered to one of 21 century the most rising infotech.Publication number is that the Chinese patent application of CN102540172A provides a kind of wireless radio frequency positioning method and system, but is only limitted to the situation of indoor testing distance two ends clear.Publication number is that the Chinese patent application of CN103728645A proposes a kind of indoor and outdoor positioning system and localization method thereof, due to the impact by signal receiving antenna position and electromagnetic wave diffraction, be difficult to rely on the position angle receiving positioning equipment determination portable equipment or target, only basis signal intensity can calculate distance between target and receiving equipment.Publication number is that the Chinese patent application of CN103679087A proposes a kind of localization method based on radio-frequency technique, relies on the probable ranges regulating the identification range of card reader to determine label, but is difficult to determine its orientation angles and height.The Localizers indoor locating system of AWTHER WIRE & LOCATION company of U.S. exploitation, at least adopt the reference point of more than 3, pulse communication between the ultra wideband receiver of being located by band and the transceiver of several reference location, the pseudo-random code time delay of carrying in monitor signal determines the distance of different reference point, and then determine the three-dimensional coordinate of unknown point, but program cost intensive, can only indoor environment be used for, the portable type measuring of outdoor environment or complex environment cannot be realized.Publication number is that the Chinese patent application of CN101770009A proposes a kind of radio frequency location technology, increase derived reference signal or reference electronic tag is needed in measuring process, and need the relative distance determining read write line and derived reference signal, the estimation of ability realize target distance, add measurement difficulty, and the measurement of three dimensions distance cannot be realized.Publication number is that the Chinese patent application of CN101300504A discloses a kind of radio-frequency location system, the main measurement relying on multiple steady arm to realize position, and the method is not only with high costs, and can only realize planimetric position measurement, cannot determine its altitude range.Publication number is that the Chinese patent application of CN101672907A estimates the distance with radio-frequency location system according to the antenna size of the minimum power radiofrequency signal received in antenna sets, equally cannot the three-dimensional localization of realize target.
Comprehensive survey finds, although the measurement of relative distance can be realized by REID, but the information measured is only limitted to plan range or relative distance, be difficult to obtain the geographic coordinate (comprising longitude, latitude and height) of measured target or relative to the orientation angles of read write line, luffing angle and elevation information, three dimensions geographic coordinate information accurately cannot be obtained.Therefore, no matter existing location technology is WLAN (wireless local area network) location or the tag location system of radio-frequency (RF) identification, can only realize the roughly range finding on two dimensional surface and location, cannot realize outdoor or the complex environment three-dimensional coordinate location of low cost.
Utility model content
In order to overcome above-mentioned defect of the prior art, the utility model provides a kind of radio frequency locating device and system, can realize for three-dimensional localization that is indoor, exterior space target, and can adapt to different environment and revise locator data, be a kind of cost-effective targeting scheme.
The utility model one embodiment provides a kind of radio frequency locating device, and described device comprises: directional antenna, in the radiofrequency signal that primary importance adopts the electronic tag of different position angles and angle of pitch reception measured target to send; Azimuth-drive motor, connects described directional antenna, drives described directional antenna to carry out tangential movement; Pitching motor, connects described directional antenna, drives described directional antenna to carry out luffing; Motor control unit, connects described azimuth-drive motor and described pitching motor, controls the motion of described azimuth-drive motor and described pitching motor, and sends position angle and the angle of pitch information of described directional antenna to information process unit; Rf receiver unit, connects described directional antenna, receives the radiofrequency signal from described directional antenna; Described information process unit, connects described rf receiver unit and described motor control unit, processes described radiofrequency signal and described position angle and angle of pitch information, generates the geographic coordinate of measured target.
Another embodiment of the utility model provides a kind of radio-frequency location system, and described system comprises the radio frequency locating device of electronic tag and aforementioned embodiments, and described electronic tag is connected with measured target and passes through omni-directional antenna transmission radiofrequency signal; Described radio frequency locating device, receives the radiofrequency signal of described electronic tag transmitting and positions described measured target, determining the geographic coordinate of described measured target.
The radio frequency locating device that the utility model embodiment provides and system, solve the defect that existing location technology cannot obtain measured target three dimensional space coordinate accurately, azimuth-drive motor and pitching motor is utilized to drive directional antenna to scan with different position angles and the angle of pitch, the radiofrequency signal that the electronic tag searching measured target sends, determine the position angle of measured target and the angle of pitch and the measured target relative distance relative to measuring position, and then draw the geographic coordinate of the measured target comprising longitude, latitude and height.The program effectively can avoid the impact of gps signal blind area, searches for localizing objects rapidly, is with a wide range of applications in electric bicycle, automobile and various special vehicle burglary-resisting system, monitor system, prison supervisory systems and special harmful influence supervisory system.
Accompanying drawing explanation
By reading the detailed description done non-limiting example done with reference to the following drawings, other features, objects and advantages of the present utility model will become more obvious:
Fig. 1 is the application scenarios figure of embodiment 1;
Fig. 2 is the structural representation of the radio frequency locating device of embodiment 1;
Fig. 3 is the functional block diagram of the information process unit of embodiment 1 radio frequency locating device;
The radio frequency positioning method process flow diagram that the radio frequency locating device that Fig. 4 is embodiment 1 is implemented;
The radio frequency positioning method process flow diagram that the radio frequency locating device that Fig. 5 is embodiment 2 is implemented;
The radio frequency positioning method process flow diagram that the radio frequency locating device that Fig. 6 is embodiment 3 is implemented;
Fig. 7 is the position angle of embodiment 3 alignment phase measuring and the relation schematic diagram of signal intensity;
Fig. 8 is the angle of pitch of embodiment 3 alignment phase measuring and the relation schematic diagram of signal intensity;
Fig. 9 is the application scenarios figure of embodiment 4;
Figure 10 is the systematic schematic diagram of embodiment 5.
In accompanying drawing, same or analogous Reference numeral represents same or analogous parts.
Embodiment
In order to understand better and explain the utility model, below in conjunction with accompanying drawing, the utility model is described in further detail.
Embodiment 1:
The present embodiment provides a kind of radio frequency locating device, can realize carrying out omnibearing radio frequency location at three dimensions to measured target.The directional antenna of this radio frequency locating device carries out with various position angle and the angle of pitch radiofrequency signal that three-dimensional scanning sends to the electronic tag searching measured target, and obtain the relative distance of measured target and measuring position and the direction relative to measuring position according to the intensity of the radiofrequency signal received and direction, thus determine the geographic coordinate (longitude, latitude and height) of measured target.
Fig. 1 is the application scenarios figure of the present embodiment, is described in detail the radio frequency locating device of the present embodiment below in conjunction with this figure.As shown in Figure 1, in this application scenarios, positioned measured target by radio frequency locating device, wherein, the directional antenna of radio frequency locating device can adjust azimuth angle theta and angle of pitch γ to realize the scanning in each orientation.Determine the relative position information (θ, γ, d) of measured target by analyzing the radio-frequency (RF) signal strength received, wherein d is the relative distance of measuring position and measured target.By being superposed by the geographic coordinate of the relative position information of measured target and radio frequency locating device, the geographic coordinate of measured target can be drawn.
Fig. 2 is the structural representation of the radio frequency locating device of the present embodiment.As shown in Figure 2: this radio frequency locating device at least comprises directional antenna 21, pitching motor 22, azimuth-drive motor 23, motor control unit 11, rf transmitter unit 12, rf receiver unit 13, information process unit 14, power supply 15, display unit 16 and GPS unit 17.
Wherein, power supply 15 provides electric power support for other unit, and information process unit 14 connects motor control unit 11, rf transmitter unit 12, rf receiver unit 13, information process unit 14, display unit 16 and GPS unit 17.Directional antenna 21 connects pitching motor 22, azimuth-drive motor 23, controlled the angle of pitching motor 22 and azimuth-drive motor 23 by motor control unit 11, thus make this directional antenna 21 can receive radiofrequency signal from electronic tag on different position angles and the angle of pitch.Rf transmitter unit 12 is launched low frequency radio frequency signal and is launched high frequency radio signals to start electronic tag, the radiofrequency signal that the electronic tag that rf receiver unit 13 adopts different position angles and the angle of pitch to receive measured target sends, and the high frequency radio signals received is supplied to information process unit 14 processes.Information process unit 14 processes the high frequency radio signals from rf receiver unit 13, generate the relative position information (θ of measured target relative to measuring position, γ, d), also can revise the relative position information generated based on the calibration data under different measurement environment alternatively, and the GPS geographic coordinate of the measuring position obtained relative to relative position information and the GPS unit 17 of measuring position by measured target carries out superposing the geographic coordinate obtaining measured target.Display unit 16 for showing various information, as the geographic coordinate of the position angle in measuring process, the angle of pitch, relative distance information, measuring position and the geographic coordinate etc. of measured target.Shown information can design according to actual needs.
Particularly: directional antenna 21, the radiofrequency signal that the electronic tag adopting different position angles and the angle of pitch to receive measured target in primary importance sends; Azimuth-drive motor 23, connects described directional antenna 21, drives described directional antenna 21 to carry out tangential movement; Pitching motor 22, connects described directional antenna 21, drives described directional antenna to carry out luffing; Motor control unit 11, connects described azimuth-drive motor 23 and described pitching motor 22, controls the motion of described azimuth-drive motor 23 and described pitching motor 22, and sends position angle and the angle of pitch information of described directional antenna 21 to information process unit 14; Rf receiver unit 13, connects described directional antenna 21, receives the radiofrequency signal from described directional antenna 21; Information process unit 14, connects described rf receiver unit 13 and described motor control unit 11, processes described radiofrequency signal and described position angle and angle of pitch information, generates the geographic coordinate of measured target.In actual product, this rf receiver unit 13 can comprise directional antenna 21, or this rf receiver unit 13 and directional antenna 21 also can be independently entities, and the signal received is passed to this rf receiver unit 13 by directional antenna 21.
Particularly: GPS unit 17, connect described information process unit 14, obtain the GPS information of described radio frequency locating device, and described GPS information is supplied to described information process unit 14; Described information process unit 14, generates the geographic coordinate of measured target based on described GPS information, described radiofrequency signal and described position angle and angle of pitch information.
Particularly: rf transmitter unit 12, connect described information process unit 14, launch low frequency radio frequency signal to start the work of the electronic tag of measured target.Electronic tag sends high frequency radio signals after receiving this low frequency radio frequency signal, and this radio frequency locating device receives high frequency radio signals by directional antenna 21.
Fig. 3 is the detailed functional block diagram of the present embodiment information process unit 14.
Information process unit 14 specifically comprises: angle measuring unit 91, connect rf receiver unit 13, from received radiofrequency signal, filter out radio-frequency (RF) signal strength maximal value, position angle corresponding for radio-frequency (RF) signal strength maximal value and the angle of pitch are defined as measured target relative to the position angle of primary importance and the angle of pitch; Distance measuring unit 92, connects rf receiver unit 13, obtains the relative distance of measured target relative to 1 primary importance according to 1 radio-frequency (RF) signal strength maximal value of first position; Positional information generation unit 93, connection angle measuring unit 91 and distance measuring unit 92, relative to the relative distance of primary importance, the geographic coordinate of measured target is generated relative to the position angle of described primary importance and the angle of pitch and measured target according to the geographic coordinate of primary importance, measured target.
The radio frequency positioning method process flow diagram that the radio frequency locating device that Fig. 4 is the present embodiment is implemented.As shown in Figure 4, the method comprises:
S201: the radiofrequency signal adopting the electronic tag of different position angles and angle of pitch reception measured target to send in primary importance.
In the present embodiment, the radiofrequency signal that the electronic tag receiving measured target by the directional antenna of radio frequency locating device sends, this directional antenna is connected with azimuth-drive motor and pitching motor, adopts different position angles and the angle of pitch to scan and the radiofrequency signal that sends of the electronic tag searching measured target under the driving of azimuth-drive motor and pitching motor.
In the present embodiment, this electronic tag can be positioned on measured target, or is connected with measured target.A kind of implementation method of the present embodiment is: first, and the directional antenna of radio frequency locating device can adopt different position angles and the angle of pitch to launch low frequency radio frequency signal to start electronic tag; Then, when electronic tag receives the low frequency radio frequency signal from radio frequency locating device, high frequency radio signals is sent by omnidirectional antenna; Finally, the directional antenna of radio frequency locating device adopts different position angles and the angle of pitch to receive high frequency radio signals.
S202: filter out radio-frequency (RF) signal strength maximal value from received radiofrequency signal, is defined as described measured target relative to the position angle of described primary importance and the angle of pitch by position angle corresponding for described radio-frequency (RF) signal strength maximal value and the angle of pitch.
In the present embodiment, determine that measured target is relative to the position angle of primary importance and the angle of pitch by angle measuring unit.The omnidirectional antenna of electronic tag can launch high frequency radio signals in all directions, the directional antenna of radio frequency locating device also can scan with different position angles and the angle of pitch and search the high frequency radio signals of electronic tag transmitting, and only have when radio frequency locating device directional antenna towards when facing measured target, just can receive the maximum signal of radiofrequency signal.
Therefore, when receiving maximum signal intensity, the position angle of directional antenna and the angle of pitch are defined as measured target relative to the position angle of directional antenna and the angle of pitch.
S203: obtain the relative distance of measured target relative to described primary importance according to the described radio-frequency (RF) signal strength maximal value of first position.
In the present embodiment, obtain the relative distance of measured target relative to primary importance by distance measuring unit.The computation model of relative distance can adopt the following formula disclosed in document " Source location from received signalstrength under lognormal shadowing " to calculate:
P
r(d)=P
r(d
0)+10nlog
10(d/d
0)+X
σ(formula 1)
Wherein, d
0for the distance between measuring position and reference point, about 1 meter can be got in reality, P
r(d
0) be the signal intensity that reference point place is measured, d is the distance between measuring position and measured target, P
rd () receives signal intensity for measuring position place, n is path attenuation coefficient, X
σfor stochastic variable.
S204: relative to the relative distance of described primary importance, generate the geographic coordinate of described measured target relative to the position angle of described primary importance and the angle of pitch and described measured target according to the geographic coordinate of described primary importance, described measured target.
In the present embodiment, obtained the geographic coordinate of measured target by positional information generation unit.Known measuring position, the i.e. geographic coordinate of primary importance, measured target can be obtained relative to the azimuth angle theta of primary importance, angle of pitch γ and relative distance d (hereafter and in accompanying drawing azimuth angle theta, angle of pitch γ and relative distance d being collectively referred to as relative position information) according to step S201-S203, by by the geographic coordinate of primary importance and the measured target relative position information (θ relative to primary importance, γ, d) carry out superposing the geographic coordinate that just can obtain measured target.In the present embodiment, geographic coordinate refers to the three dimensional space coordinate of measured target, namely at least comprises longitude, latitude and height.
The radio frequency locating device of the present embodiment, solve the defect that existing location technology cannot obtain measured target three dimensional space coordinate accurately, by the signal that the electronic tag adopting different position angles and the angle of pitch to search measured target sends, determine the position angle of measured target and the angle of pitch and the measured target relative distance relative to measuring position, and then draw the geographic coordinate of the measured target comprising longitude, latitude and height, be a kind of cost-effective scheme.
Embodiment 2:
The difference of the present embodiment and embodiment 1 is, the present embodiment considers the impact of different measuring environment on the bit error rate, and the geographic coordinate of measured target determined respectively by the radio frequency locating device of the present embodiment for different measuring environment.
Referring again to Fig. 3, the information process unit 14 of the present embodiment also comprises: premeasuring unit 94, connect described rf receiver unit, for different measurement environment, obtain in advance and receive the bit error rate, described measured target for the corresponding relation between the relative distance of measuring position and received signal strength; Position correction unit 95, connect described premeasuring unit, according to the described corresponding relation of current measurement environment and the bit error rate of actual measurement, described relative distance is revised, and generate the geographic coordinate of revised described measured target based on revised relative distance.
The radio frequency positioning method process flow diagram that the radio frequency locating device that Fig. 5 is the present embodiment is implemented.As shown in Figure 5, the method comprises:
S301: for different measurement environment, obtains in advance and receives the bit error rate, described measured target for the corresponding relation between the relative distance of measuring position and received signal strength.
In the present embodiment, complete the calibration process before the actual measurement stage by premeasuring unit.In the present embodiment, consider the difference of the bit error rate under different measurement environment, first generate respectively for different measurement environment to comprise at calibration phase and receive the bit error rate, measured target for the mapping table between the relative distance of measuring position and received signal strength.After actual measurement completes, then according to the mapping table of actual measurement environment, measurement result is revised.Measurement environment can include but not limited to spacious environment, city high rise building environment and forest environment etc.In addition, the measurement result of other measurement environment can also be supplemented according to the demand of reality.
At calibration phase, first measured target is placed in a known location, i.e. the geographic coordinate of known measuring position and the geographic coordinate of measured target, and the relative distance d between known measured target and measuring position, then measure and receive the bit error rate and signal intensity.A kind of optional method receiving the bit error rate of measuring can be, but be not limited to: in radio frequency locating device and electronic tag, store identical source code, when electronic tag sends source code by radiofrequency signal, radio frequency locating device receives the radiofrequency signal of carrying this source code, judges that the ratio of error code quantity and the transmission total quantity received is to generate the reception bit error rate.
A kind of concrete methods of realizing of the present embodiment is: all need to generate such one for different measurement environment and comprise the reception bit error rate, the relative distance of measured target for measuring position and the mapping table of received signal strength.And for each mapping table, at least need closely, middle distance and measuring at a distance, namely at least to comprise closely, middle distance and remote one group of data, this closely, middle distance and be only a distance range at a distance.
The reception bit error rate supposing to obtain at calibration phase under certain measurement environment, measured target for the mapping table between the relative distance of measuring position and received signal strength as illustrated in table 1:
Table 1
| Signal intensity (dBm) | The bit error rate | Distance (rice) |
| -20 | 20％ | (be greater than 1000) at a distance |
| -5 | 1-2％ | Middle distance (about 300) |
| 7 | 0 | Closely (be less than 10) |
Table 1 is applicable to comparatively spacious environment.In the environment of this spaciousness, carry out measuring the marked change that can't cause the bit error rate within a larger distance range, therefore only need measure the bit error rate corresponding to several distance range.And for urban central zone or the more environment of barrier, distance change that may be less will cause the marked change of the bit error rate, for this situation, just need to measure a large amount of data, at least will remeasure the bit error rate every tens meters or 100.For the environment of this barrier comparatively dense, such as, the form as illustrated in following table 2 can be drawn:
Table 2
| Signal intensity (dBm) | The bit error rate | Distance (rice) |
| -20 | 20％ | 500 |
| -15 | 18％ | 450 |
| -10 | 15％ | 400 |
| -8 | 12％ | 350 |
| -5 | 10％ | 300 |
| -2 | 8％ | 250 |
| 1 | 5％ | 200 |
| 3 | 3％ | 150 |
| 7 | 1％ | 100 |
| 9 | 0％ | 50 |
S302: the radiofrequency signal adopting the electronic tag of different position angles and angle of pitch reception measured target to send in primary importance.
The specific implementation process of this step can see the detailed description for S201 in embodiment 1.
S303: the bit error rate obtaining actual measurement according to the radiofrequency signal received.
A kind of implementation procedure of this step can be: in radio frequency locating device and electronic tag, store identical source code, when electronic tag sends source code by radiofrequency signal, radio frequency locating device receives the radiofrequency signal of carrying this source code, judges that the ratio of error code quantity and the transmission total quantity received is to generate the reception bit error rate.
S304: filter out radio-frequency (RF) signal strength maximal value from received radiofrequency signal, is defined as described measured target relative to the position angle of described primary importance and the angle of pitch by position angle corresponding for described radio-frequency (RF) signal strength maximal value and the angle of pitch.
The specific implementation process of this step can see the detailed description for S202 in embodiment 1.
S305: obtain the relative distance of measured target relative to described primary importance according to the described radio-frequency (RF) signal strength maximal value of first position.
The specific implementation process of this step can see the detailed description for S203 in embodiment 1.
S306: relative to the relative distance of described primary importance, generate the geographic coordinate of described measured target relative to the position angle of described primary importance and the angle of pitch and described measured target according to the geographic coordinate of described primary importance, described measured target.
The specific implementation process of this step can see the detailed description for S204 in embodiment 1.
S307: described relative distance is revised according to the described corresponding relation of current measurement environment and the bit error rate of actual measurement, and the geographic coordinate generating revised described measured target based on revised relative distance.
In the present embodiment, position correction unit can be revised relative distance based on the bit error rate in mapping table.
For the table 1 that spacious environment obtains, a kind of method of optional correction relative distance is: suppose that the bit error rate measured is 18%, and when being 2000 meters according to the signal intensity measured in conjunction with the relative distance that formula 1 calculates, first look-up table 1, because relative distance is more than 1000 meters, belong to remote, the calibration bit error rate of its correspondence is 20%, the calibration bit error rate 20% and the actual measurement bit error rate 18% are averaged, obtain the revised bit error rate 19%, then adopt following formula 2 to obtain signal intensity RSSI corresponding to this revised bit error rate:
RSSI=-(81-BER × 91) (formula 2)
Wherein, RSSI is signal intensity, and BER is the bit error rate.
After obtaining signal intensity RSSI by formula 2, just instead can release revised relative distance by formula 1.
For the table 2 that the intensive environment of barrier obtains, another kind of optional relative distance modification method is: suppose that the bit error rate measured is 15%, and be 460 meters according to the relative distance that the signal intensity measured and formula 1 obtain, now just there is the entry that the bit error rate is 15% in table 2, so direct calibration relative distance 400 corresponding with the bit error rate 15% in the relative distance 460 of measurement and table 2 be weighted on average:
Relative distance=a1 × 400+a2 × 460 revised, wherein a1+a2=1;
When a1 and a2 gets 0.5, the relative distance of the correction drawn is 430 meters.
Suppose that the bit error rate measured is 9%, and be 300 according to the relative distance that the signal intensity measured and formula 1 obtain, now there is no corresponding bit error rate entry in table 2, so first calculate theoretic calibration relative distance according to entry close with 9% in table 2 10%:
9%/calibration relative distance=10%/300, draw calibration relative distance=270 meter.
Then, actual measurement relative distance 300 and calibration relative distance 270 are weighted draw:
Relative distance=a1 × 300+a2 × 270 revised, wherein a1+a2=1;
When supposing that a1 and a2 gets 0.5, the relative distance of the correction drawn is 285 meters.
After have modified relative distance, just can draw the geographic coordinate of revised measured target according to the geographic coordinate of revised relative distance, position angle, pitching and measuring position.Only explain with two examples in the present embodiment and how according to the mapping table of calibration phase acquisition, relative distance to be revised, and then revise the geographic coordinate of measured target.The example of the present embodiment is not only for limiting claims for being described the utility model embodiment.
The radio frequency locating device of the present embodiment, the three-dimensional fix of measured target can not only be realized, also consider the impact of different measuring environment on the bit error rate, the relative distance of the bit error rate utilizing calibration phase to measure to actual measurement is revised, and then revises the geographic coordinate of measured target.This device can adapt to different measurement environment, improves the degree of accuracy of measurement.
Embodiment 3:
The difference of the present embodiment and embodiment 2 is, the radio frequency locating device of the present embodiment not only needs illustratedly in constitution and implementation example 2 to comprise the reception bit error rate for different measuring environment at calibration phase, measured target is for the mapping table between the relative distance of measuring position and received signal strength, but also need to obtain the position angle of different measuring environment and the measured deviation of the angle of pitch at calibration phase, and utilize position angle and the angle of pitch of the measured deviation correction actual measurement of position angle and the angle of pitch obtained in advance, thus revise the geographic coordinate of measured target.
Particularly, as shown in Figure 3, the information process unit 14 of the present embodiment also comprises: deviation measuring unit 96, connects described rf receiver unit, for different measurement environment, obtains the angle of pitch and azimuthal measured deviation in advance; Angle calibration system unit 97, connects described deviation measuring unit, according to the angle of pitch obtained in advance in current measurement environment and azimuthal measured deviation, calibrates the position angle of the described measured target of actual measurement and the angle of pitch; Described position correction unit 95, also connects described angle calibration system unit, revises according to the position angle after calibration and the geographic coordinate of the angle of pitch to described measured target.
The radio frequency positioning method process flow diagram that the radio frequency locating device that Fig. 6 is the present embodiment is implemented.As shown in Figure 6:
S401: for different measurement environment, obtains the angle of pitch and azimuthal measured deviation in advance;
Particularly, because position angle can be different with the measured deviation of the angle of pitch in different environments, therefore corresponding to different measurement environment also needs to revise the position angle of actual measurement and the angle of pitch respectively.
A kind of optional bias measurement method is: under a certain measurement environment, measured target is placed in known location, namely known measured target is relative to the position angle of the reality of measuring position and the angle of pitch, then the strongest signal strength values is filtered out to determine the position angle and the angle of pitch measured in measuring position, the position angle of measuring and the angle of pitch and known position angle and the angle of pitch are compared, just can obtain the measured deviation of position angle under this measurement environment and the angle of pitch, record the measured deviation of position angle under varying environment and the angle of pitch respectively.
Suppose to place measured target at calibration phase with the position of 125 °, position angle, the angle of pitch 125 °, relative distance 10m under certain measurement environment, record comprise position angle, the angle of pitch and signal strength values form as illustrated in table 3:
Table 3
| Position angle (°) | The angle of pitch (°) | Signal strength values (dBm) |
| 10 | 10 | -2.2 |
| 50 | 50 | -1 |
| 60 | 60 | 0 |
| 100 | 100 | 4 |
| 120 | 120 | 10 |
| 140 | 140 | 4.1 |
| 180 | 180 | 0 |
| 200 | 200 | -1.5 |
| 240 | 240 | -2.6 |
| 260 | 260 | -4.0 |
| 300 | 300 | -6 |
| 320 | 320 | -4.6 |
| 340 | 340 | -3.2 |
| 360 | 360 | -2.8 |
Fig. 7 shows the relation schematic diagram of position angle and signal intensity; Fig. 8 shows the relation schematic diagram of the angle of pitch and signal intensity.As can be seen from table 3 composition graphs 5 and Fig. 6, be 120 ° at position angle and the angle of pitch is also 120 ° time, can obtain maximum signal strength values 10dBm, the position angle of so measuring and the angle of pitch are all 120 °; But known position angle and the angle of pitch are all 125 °, so measured under this measurement environment position angle and the angle of pitch less than normal, namely all little than the angle of reality 5 °, therefore, corresponding increase by 5 ° is just needed, to make up the angular deviation that environment causes after measuring phases draws the position angle of measurement and the angle of pitch.
S402: for different measurement environment, obtains in advance and receives the bit error rate, described measured target for the corresponding relation between the relative distance of measuring position and received signal strength;
The specific implementation process of this step can see the detailed description for S301 in embodiment 2.
S403: the radiofrequency signal adopting the electronic tag of different position angles and angle of pitch reception measured target to send in primary importance;
The specific implementation process of this step can see the detailed description for S201 in embodiment 1.
S404: the bit error rate obtaining actual measurement according to the radiofrequency signal received;
The specific implementation process of this step can see the detailed description for S303 in embodiment 2.
S405: filter out radio-frequency (RF) signal strength maximal value from received radiofrequency signal, is defined as described measured target relative to the position angle of described primary importance and the angle of pitch by position angle corresponding for described radio-frequency (RF) signal strength maximal value and the angle of pitch;
The specific implementation process of this step can see the detailed description for S202 in embodiment 1.
S406: according to the angle of pitch obtained in advance in current measurement environment and azimuthal measured deviation, revises the position angle of the described measured target of actual measurement and the angle of pitch.
For the situation of table 3 and Fig. 7, Fig. 8, due to position angle measured under this measurement environment and the angle of pitch all little than the angle of reality 5 °, therefore, after measuring phases draws the position angle of measurement and the angle of pitch, corresponding increase 5 ° is just needed, to make up the angular deviation that environment causes.
S407: obtain the relative distance of measured target relative to described primary importance according to the described radio-frequency (RF) signal strength maximal value of first position.
The specific implementation process of this step can see the detailed description for S203 in embodiment 1.
S408: described relative distance is revised according to the described corresponding relation of current measurement environment and the bit error rate of actual measurement.
The specific implementation process of this step can see the detailed description for S307 in embodiment 1.
S409: according to the geographic coordinate of described primary importance, revised position angle and the angle of pitch and revised relative distance, generates the geographic coordinate of the described measured target revised.
The position correction unit of the present embodiment, by revised position angle and the angle of pitch and revised relative distance being superposed with the geographic coordinate of primary importance, can generate the geographic coordinate of the described measured target of correction.
The radio frequency locating device of the present embodiment, not only consider the impact of different measuring environment on the bit error rate, also consider the measured deviation of different measuring environment azimuthal and the angle of pitch, the bit error rate utilizing calibration phase to measure and angular deviation are revised the angle of actual measurement and relative distance, and then revise the geographic coordinate of measured target.This device can adapt to different measurement environment, improves the degree of accuracy of measurement.
Embodiment 4:
The difference of the present embodiment and embodiment 1-3 is, the radio frequency locating device of the present embodiment is not only measured at the geographic coordinate of primary importance to measured target, the geographic coordinate of the second place to measured target being different from primary importance also can be selected to measure, the measurement result of the second place is used for revising the measurement result of primary importance, generates final measurement result by analyzing two measurement results.The process that the geographic coordinate of the second place to measured target is measured, see described in embodiment 1-3, repeats no more herein.
Fig. 9 is the application scenarios figure of the present embodiment.In the present embodiment, the measurement result of primary importance is called the geographic coordinate of measured target, and the measurement result of the second place is called the calibration geographic coordinate of measured target.The relative position information recorded in first position is (θ
1, γ
1, d
1), by relative position information (θ
1, γ
1, d
1) and the geographic coordinate superposition of first position, obtain the geographic coordinate of measured target that first position is measured; The relative position information recorded in second position is (θ
2, γ
2, d
2), by relative position information (θ
2, γ
2, d
2) and the geographic coordinate superposition of second position, obtain the calibration geographic coordinate of measured target that second position is measured.
Referring again to Fig. 3, the directional antenna 21 of the present embodiment, the radiofrequency signal that the electronic tag also adopting different position angles and the angle of pitch to receive measured target in the second place being different from primary importance sends; Rf receiver unit 13, also receives the radiofrequency signal measured in the second place from described directional antenna; Positional information generation unit 93, also relative to the relative distance of the described second place, generate the calibration geographic coordinate of described measured target relative to the position angle of the described second place and the angle of pitch and described measured target according to the geographic coordinate of the described second place, described measured target; Position correction unit 95, also utilizes the geographic coordinate of calibration geographic coordinate to described measured target of described measured target to calibrate.
In the optional embodiment of one, position correction unit 95, for being less than first threshold when the distance between described calibration geographic coordinate and described geographic coordinate, and when the bit error rate of described first position and described second position actual measurement is all lower than Second Threshold, one of them selecting described geographic coordinate or described calibration geographic coordinate as final measurement, otherwise selects the 3rd position to continue to measure the geographic coordinate of described measured target.
The radio frequency locating device of the present embodiment, by measuring measured target in the second place being different from primary importance, and draw final measurement result by comparing twice measurement result, the inaccurate problem of measurement result that the method can be avoided certain one-shot measurement to slip up causing, makes measurement result more credible.
Embodiment 5:
The present embodiment provides a kind of radio-frequency location system, and Figure 10 is the systematic schematic diagram of the present embodiment.As shown in Figure 10, the system of the present embodiment comprises the radio frequency locating device of electronic tag and embodiment 5.Wherein, electronic tag, is connected with measured target and passes through omni-directional antenna transmission radiofrequency signal; Radio frequency locating device, receives the radiofrequency signal of described electronic tag transmitting and positions described measured target, determining the geographic coordinate of described measured target.
Wherein, radio frequency locating device, specifically for launching low frequency radio frequency signal to start described electronic tag, and receives the high frequency radio signals from described electronic tag; Electronic tag, specifically for periodically receiving the low frequency radio frequency signal from described radio frequency locating device, and sends high frequency radio signals.
Although illustrated the situation carrying out in position 1 and position 2 place measuring in Figure 10, as previous embodiment illustrates, carrying out measuring two positions has been only a kind of concrete implementation, can only measure a position in reality.In addition, because the structure of radio frequency locating device and principle of work have been described in detail in embodiment 1-4, repeated no more herein.
To those skilled in the art, obvious the utility model is not limited to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present utility model or essential characteristic, can realize the utility model in other specific forms.Therefore, should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims instead of above-mentioned explanation, and all changes in the implication and scope of the equivalency of claim are all included in the utility model.Any Reference numeral in claim should be considered as the claim involved by limiting.In addition, obviously " comprising " one word do not get rid of miscellaneous part, unit or step, odd number does not get rid of plural number.Multiple parts, unit or the device of stating in claim also can be realized by software or hardware by parts, unit or a device.
Disclosedly above be only preferred embodiments more of the present utility model, can not limit the protection domain of the utility model claim with this, the equivalent variations done according to the utility model claim, still belongs to the scope that the utility model is contained.
Claims (9)
1. a radio frequency locating device, is characterized in that, described device comprises:
Directional antenna, in the radiofrequency signal that primary importance adopts the electronic tag of different position angles and angle of pitch reception measured target to send;
Azimuth-drive motor, connects described directional antenna, drives described directional antenna to carry out tangential movement;
Pitching motor, connects described directional antenna, drives described directional antenna to carry out luffing;
Motor control unit, connects described azimuth-drive motor and described pitching motor, controls the motion of described azimuth-drive motor and described pitching motor, and sends position angle and the angle of pitch information of described directional antenna to information process unit;
Rf receiver unit, connects described directional antenna, receives the radiofrequency signal from described directional antenna;
Described information process unit, connects described rf receiver unit and described motor control unit, processes described radiofrequency signal, described position angle and angle of pitch information, generates the geographic coordinate of measured target.
2. radio frequency locating device according to claim 1, it is characterized in that, described device also comprises:
GPS unit, connects described information process unit, obtains the GPS information of described radio frequency locating device, and described GPS information is supplied to described information process unit;
Described information process unit, generates the geographic coordinate of measured target based on described GPS information, described radiofrequency signal and described position angle and angle of pitch information.
3. radio frequency locating device according to claim 1, is characterized in that, described information process unit comprises:
Angle measuring unit, connect described rf receiver unit, from received radiofrequency signal, filter out radio-frequency (RF) signal strength maximal value, position angle corresponding for described radio-frequency (RF) signal strength maximal value and the angle of pitch are defined as described measured target relative to the position angle of described primary importance and the angle of pitch;
Distance measuring unit, connects described rf receiver unit, obtains the relative distance of measured target relative to described primary importance according to the described radio-frequency (RF) signal strength maximal value of first position;
Positional information generation unit, connect described angle measuring unit and described distance measuring unit, relative to the relative distance of described primary importance, the geographic coordinate of described measured target is generated relative to the position angle of described primary importance and the angle of pitch and described measured target according to the geographic coordinate of described primary importance, described measured target.
4. radio frequency locating device according to claim 3, is characterized in that, described information process unit also comprises:
Premeasuring unit, connects described rf receiver unit, for different measurement environment, obtains in advance and receives the bit error rate, described measured target for the corresponding relation between the relative distance of measuring position and received signal strength;
Position correction unit, connect described premeasuring unit, according to the described corresponding relation of current measurement environment and the bit error rate of actual measurement, described relative distance is revised, and generate the geographic coordinate of revised described measured target based on revised relative distance.
5. radio frequency locating device according to claim 4, is characterized in that, described information process unit also comprises:
Deviation measuring unit, connects described rf receiver unit, for different measurement environment, obtains the angle of pitch and azimuthal measured deviation in advance;
Angle calibration system unit, connects described deviation measuring unit, according to the angle of pitch obtained in advance in current measurement environment and azimuthal measured deviation, calibrates the position angle of the described measured target of actual measurement and the angle of pitch;
Described position correction unit, also connects described angle calibration system unit, revises according to the position angle after calibration and the geographic coordinate of the angle of pitch to described measured target.
6. radio frequency locating device according to claim 4, is characterized in that,
Described directional antenna, the radiofrequency signal that the electronic tag also adopting different position angles and the angle of pitch to receive measured target in the second place being different from primary importance sends;
Described rf receiver unit, also receives the radiofrequency signal measured in the second place from described directional antenna;
Described positional information generation unit, also relative to the relative distance of the described second place, generate the calibration geographic coordinate of described measured target relative to the position angle of the described second place and the angle of pitch and described measured target according to the geographic coordinate of the described second place, described measured target;
Described position correction unit, also utilizes the geographic coordinate of calibration geographic coordinate to described measured target of described measured target to calibrate.
7. radio frequency locating device according to claim 1, is characterized in that, described device also comprises:
Rf transmitter unit, connects described information process unit, launches low frequency radio frequency signal to start the work of described electronic tag.
8. a radio-frequency location system, is characterized in that, described system comprises the radio frequency locating device in electronic tag and claim 1-7 described in any one claim;
Described electronic tag, is connected with measured target and passes through omni-directional antenna transmission radiofrequency signal;
Described radio frequency locating device, receives the radiofrequency signal of described electronic tag transmitting and positions described measured target, determining the geographic coordinate of described measured target.
9. system according to claim 8, is characterized in that,
Described radio frequency locating device, launches low frequency radio frequency signal to start described electronic tag, and receives the high frequency radio signals from described electronic tag;
Described electronic tag, periodically receives the low frequency radio frequency signal from described radio frequency locating device, and sends high frequency radio signals.
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| CN201420657507.XU CN204166130U (en) | 2014-11-05 | 2014-11-05 | Radio frequency locating device and system |
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| CN201420657507.XU CN204166130U (en) | 2014-11-05 | 2014-11-05 | Radio frequency locating device and system |
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