CN207528921U - Indoor and outdoor seamless butt junction location system based on UWB and dipper system - Google Patents
Indoor and outdoor seamless butt junction location system based on UWB and dipper system Download PDFInfo
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- CN207528921U CN207528921U CN201721708249.3U CN201721708249U CN207528921U CN 207528921 U CN207528921 U CN 207528921U CN 201721708249 U CN201721708249 U CN 201721708249U CN 207528921 U CN207528921 U CN 207528921U
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Abstract
The utility model provides a kind of indoor and outdoor seamless butt junction location system based on UWB and dipper system, UWB base stations including positioning label and multiple covering room areas, positioning label includes controller, the Beidou positioning module for outdoor positioning, UWB locating modules and power module for indoor positioning, and Beidou positioning module, UWB modules, power module are electrically connected with the controller；When positioning label is located at room area, controller control UWB locating module work, UWB locating modules emit impulse radio, multiple UWB base stations receive the impulse radio and emit feedback signal, UWB locating modules receive the feedback signal, and indoor positioning coordinate information is calculated by controller analysis；When positioning label is in outdoor area, controller control UWB locating modules are stopped, and control Beidou positioning module work, Beidou positioning module receives the signal of Beidou satellite navigation system transmitting, and outdoor positioning coordinate information is calculated by controller analysis.
Description
Technical field
The utility model belongs to technical field of navigation and positioning, and in particular to a kind of interior based on UWB and dipper system
Outdoor slitless connection alignment system.
Background technology
As location technology is in the continuous expansion of application range, demand of the emerging application to positioning has been not limited to simple
Outdoor scene, positioning indoors, mixed positioning under a variety of environment etc. also proposed new demand.
Utility model content
The purpose of the utility model is to overcome above-mentioned the deficiencies in the prior art, provide a kind of collection indoor positioning function with
And outdoor positioning function in one and can free switching operating mode based on the indoor and outdoor seamless of UWB and dipper system dock
Alignment system.
The utility model is realized in this way：Indoor and outdoor seamless butt junction location system based on UWB and dipper system, packet
The UWB base stations of positioning label and multiple covering room areas are included, the positioning label includes controller, for outdoor positioning
Beidou positioning module, the power module for the UWB locating modules of indoor positioning and for the power supply of each component, the Big Dipper determines
Position module, the UWB modules, the power module are electrically connected with the controller；
Wherein, when the positioning label is located at room area, the controller controls the UWB locating modules work,
The UWB locating modules emit impulse radio, and multiple UWB base stations receive the impulse radio and emit feedback signal,
The UWB locating modules receive the feedback signal, and indoor positioning coordinate information is calculated by controller analysis；
When the positioning label is in outdoor area, the controller controls the UWB locating modules to be stopped, and
The Beidou positioning module is controlled to work, the Beidou positioning module receives the signal of Beidou satellite navigation system transmitting, and
Outdoor positioning coordinate information is calculated by controller analysis.
As a preferred embodiment of the utility model, the positioning label further includes to show that the indoor positioning is sat
Mark the state display module of signal and the outdoor positioning coordinate information.
As a preferred embodiment of the utility model, the UWB locating modules include emitting impulse radio
First sending module and the first receiving module for receiving the feedback signal of the UWB Base Transmitters；The UWB base stations packet
Include the second sending module for sending feedback signal and the second receiving module for receiving impulse radio.
As a preferred embodiment of the utility model, the controller includes the use being connect with the UWB locating modules
It is calculated in analysis and generates the first computing module of the indoor positioning coordinate information and connect with the Beidou positioning module
Calculate for analyzing and generate the second computing module of the outdoor positioning coordinate information.
As a preferred embodiment of the utility model, the quantity of the UWB base stations is at least 3.
As a preferred embodiment of the utility model, the minimum angle of triangle that is formed between arbitrary 3 UWB base stations
More than or equal to 15 °.
As a preferred embodiment of the utility model, the positioning label is further included for the channel radio with external communication
Module is interrogated, the wireless communication module is electrically connected with the controller.
As a preferred embodiment of the utility model, the controller is ARM controller.
A kind of indoor and outdoor seamless butt junction location system based on UWB and dipper system provided by the utility model, wherein,
When the positioning label is located at room area, the controller controls the UWB locating modules work, the UWB positioning moulds
Block emits impulse radio, and multiple UWB base stations receive the impulse radio and emit feedback signal, the UWB positioning moulds
Block receives the feedback signal, and indoor positioning coordinate information is calculated by controller analysis；When the positioning label
During in outdoor, the controller controls the UWB locating modules to be stopped, and controls the Beidou positioning module work,
The Beidou positioning module receives the signal of Beidou satellite navigation system transmitting, and room is calculated by controller analysis
Outer elements of a fix information, and then the indoor and outdoor seamless butt junction location system provided by the utility model based on UWB and dipper system
System, can between indoor positioning and outdoor positioning seamless switching, it is highly practical.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is this
Some embodiments of utility model, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to these attached drawings.
The following drawings is only intended in doing schematic illustration and explanation to the utility model, does not limit the model of the utility model
It encloses.
Fig. 1 is the indoor and outdoor seamless butt junction location system based on UWB and dipper system that the utility model embodiment provides
The module diagram of system；
Fig. 2 is the module diagram of positioning label that the utility model embodiment provides.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Unless otherwise defined, the technical term or scientific terminology that the utility model uses are should be belonging to the utility model
The ordinary meaning that the personage with general technical ability is understood in field." first " that is used in the utility model, " second " and
Similar word is not offered as any sequence, quantity or importance, and is used only to distinguish different component parts.Equally,
"one", the similar word such as " one " or "the" do not indicate that quantity limits yet, but represents that there are at least one." comprising " or
The element or object that the similar word such as "comprising" means to occur before the word cover the element for appearing in the word presented hereinafter
Either object and its equivalent and be not excluded for other elements or object.The similar word such as " connection " or " connected " not limits
Due to physics or mechanical connection, but electrical connection can be included, it is either directly or indirect." on ",
" under ", "left", "right" etc. be only used for representing relative position relation, after the absolute position for being described object changes, then this is opposite
Position relationship may also correspondingly change.
Embodiment
It please refers to Fig.1, Fig. 2, the indoor and outdoor seamless butt junction location system based on UWB and dipper system, is marked including positioning
The UWB base stations 2 of label 1 and multiple covering room areas (i.e. UWB base stations can cover room area set on room area, with
In the impulse radio for receiving positioning label transmission), positioning label 1 includes controller 11, determines for the Big Dipper of outdoor positioning
Position module 12, the power module 14 for the UWB locating modules 13 of indoor positioning and for the power supply of each component, power module 14 can
To be lithium battery etc., Beidou positioning module 12, UWB modules, power module 14 are electrically connected with controller 11；Wherein, specifically,
Controller 11 can be ARM controller, such as ARMCortex-A50, arm processor have the function of little power consumption it is strong, 16/32 pairs
Numerous three big feature of instruction set and affiliate.Arm processor is widely used in portable communication products, holds operation, is more
The fields such as media and embedded solution, it has also become the standard of RISC.
Wherein, when positioning label 1 is located at room area, controller 11 controls UWB locating modules 13 to work, UWB positioning
Module 13 emits impulse radio, and multiple UWB base stations 2 receive the impulse radio and emit feedback signal, UWB locating modules 13
The feedback signal is received, and indoor positioning coordinate information is calculated by the analysis of controller 11；
I.e. the indoor and outdoor seamless butt junction location system based on UWB and dipper system is realized indoor fixed using UWB technology
Position, specifically, UWB (UltraWideband) is a kind of no-load communication techniques, using nanosecond to the non-sine of picosecond grade
Wave burst pulse transmits data.By transmitting the signal of extremely low power on wider frequency spectrum, UWB technology can be in 10 meters or so of model
The interior message transmission rate for realizing hundreds of Mbit/s to several Gbit/s is enclosed, there is strong anti-interference performance, transmission rate is high, and system is held
The advantages that measuring that big transmission power is very small, the system power supply working time can be greatly prolonged.
In above-mentioned, specifically, in the present embodiment, the TOF (flight time is used between UWB locating modules 13 and UWB base stations 2
Telemetry) ranging, i.e., emit the first time of impulse radio by UWB locating modules 13, multiple UWB base stations 2 receive the arteries and veins
It rushes the second time of radio, and then controller 11 calculates the time difference of first time and the second time by analyzing, and obtains arteries and veins
The flight time of radio is rushed, and then calculates the distance that UWB locating modules 13 lead each UWB base stations 2, and then determines that UWB determines
The indoor positioning coordinate information of position module 13 determines the indoor coordinate information of positioning label 1.
Also, when positioning label 1 is in outdoor area, controller 11 controls UWB locating modules 13 to be stopped, and controls
Beidou positioning module 12 processed works, and Beidou positioning module 12 receives the signal of Beidou satellite navigation system transmitting, and by controlling
Outdoor positioning coordinate information is calculated in the analysis of device 11.
That is the indoor and outdoor seamless butt junction location system based on UWB and dipper system, utilizes Beidou satellite navigation system
Outdoor positioning is realized, specifically, Beidou satellite navigation system space segment is defended by 5 satellites and 30 non-geostationary orbits
Star forms, and at 2012 or so, Beidou satellite navigation system will be provided with positioning, navigation and the time service of the covering Asian-Pacific area and short
Message communication service ability.
In above-mentioned, it is to be understood that Beidou positioning module 12 is led that is, a receiver by receiving big-dipper satellite
The radio of boat system Satellite transmitting calculates every satellite the distance between to receiver by the analysis of controller 11, and then
Obtain the outdoor coordinate information of Beidou positioning module 12 to get to positioning label 1 outdoor positioning coordinate information.
Seen from the above description, the indoor and outdoor seamless butt junction location provided in this embodiment based on UWB and dipper system
System can realize that positioning label 1 indoor positioning and outdoor positioning freely docks, i.e., when the positioning movement of label 1 (such as position
In on mobile object), if being moved to outdoor area, controller 11 controls UWB locating modules 13 to be stopped, and the Big Dipper is controlled to determine
Position module 12 works, and Beidou positioning module 12 receives the signal of Beidou satellite navigation system transmitting, and is analyzed by controller 11
Outdoor positioning coordinate information is calculated；If being moved to room area by outdoor, controller 11 controls Beidou positioning module 12 to stop
It only works, control UWB locating modules 13 work, and UWB locating modules 13 emit impulse radio, and multiple UWB base stations 2 receive the arteries and veins
It rushes radio and emits feedback signal, UWB locating modules 13 receive the feedback signal, and are calculated by the analysis of controller 11
Indoor positioning coordinate information, i.e. the indoor and outdoor seamless butt junction location system based on UWB and dipper system can be marked according to positioning
Operating mode is automatically switched in the position of label 1, and then can ensure to position 1 tangible room area of label or outdoor area,
There is higher positioning accuracy, and when positioning label 1 is moved to outdoor area from room area or is moved from outdoor area
During to room area, positioning label 1, can seamless realization indoor and outdoor precise positioning by automatically switching operating mode.
Preferably, in the present embodiment, positioning label 1 further includes to show that indoor positioning coordinate signal and outdoor are fixed
The state display module 15 of position coordinate information, state display module 15 are electrically connected with controller 11, can show that this is based on UWB thereon
It is fixed with the operating mode and indoor positioning coordinate information of the indoor and outdoor seamless butt junction location system of dipper system or outdoor
Position coordinate information etc., specifically, it can be a LCD screen or LED screen etc..
Preferably, in the present embodiment, UWB locating modules 13 include the first sending module for emitting impulse radio
And the first receiving module for receiving the feedback signal of the transmitting of UWB base stations 2；UWB base stations 2 include sending feedback signal
The second sending module and the second receiving module for receiving impulse radio.
In above-mentioned, i.e. the first sending module sends impulse radio (and then can determine the first time of transmission), and second connects
It receives module and receives impulse radio (and then can determine the second time of reception), the second sending module sends feedback signal and (carries
Have the second temporal information, determined for the second time for controller 11), the first receiving module receives feedback signal, and then controls
Device 11 can obtain the second time that the second receiving module receives impulse radio according to the feedback signal, and then controller 11 can divide
Analysis calculates the time difference of first time and the second time, obtains the flight time of impulse radio, and then calculate UWB positioning moulds
Block 13 leads the distance of each UWB base stations 2, and then determines the indoor positioning coordinate information of UWB locating modules 13, that is, determines positioning mark
The indoor coordinate information of label 1.
In above-mentioned, specifically, the analysis that is used for that controller 11 includes connecting with UWB locating modules 13 calculates and generates interior
First computing module 111 of elements of a fix information and the analysis that is used for being connect with Beidou positioning module 12 calculate and generate outdoor
Second computing module 112 of elements of a fix information.
Preferably, in the present embodiment, the quantity of UWB base stations 2 is at least 3, and is formed between arbitrary 3 UWB base stations 2
Triangle minimum angle be more than or equal to 15 °, and then avoid by UWB base stations 2 determine positioning label 1 distance so that determine
When positioning the position of label 1, the situation for interfering with each other and then causing positioning accuracy to reduce can be generated.
As a preferred embodiment of the utility model, positioning label 1 is further included for the wireless telecommunications with external communication
Module, wireless communication module are electrically connected with controller 11, location information for positioning label 1 etc. can be transmitted to outside, had
Body can be the modules such as bluetooth, WLAN.
In conclusion a kind of indoor and outdoor seamless butt junction location based on UWB and dipper system provided by the utility model
System, wherein, when positioning label is located at room area, controller control UWB locating module work, the transmitting of UWB locating modules
Impulse radio, multiple UWB base stations receive the impulse radio and emit feedback signal, and UWB locating modules receive the feedback letter
Number, and indoor positioning coordinate information is calculated by controller analysis；When positioning label in outdoor, controller control
UWB locating modules are stopped, and control Beidou positioning module work, and Beidou positioning module receives Beidou satellite navigation system hair
The signal penetrated, and outdoor positioning coordinate information is calculated, and then provided by the utility model based on UWB by controller analysis
With the indoor and outdoor seamless butt junction location system of dipper system, can between indoor positioning and outdoor positioning seamless switching, it is real
It is strong with property.
There is the following to need to illustrate：
(1) unless otherwise defined, in the embodiment of the utility model and attached drawing, same label represents same meaning.
(2) in the utility model embodiment attached drawing, the structure being related to the utility model embodiment is related only to, other
Structure, which can refer to, to be commonly designed.
(3) for clarity, for describing in the attached drawing of the embodiment of the utility model, the thickness quilt in layer or region
Amplification.It is appreciated that when the element of such as layer, film, region or substrate etc is referred to as being located at "above" or "below" another element,
The element can " direct " "above" or "below" another element or there may be intermediary element.
(4) in the absence of conflict, the feature in the same embodiment of the utility model and different embodiment can phase
Mutually combination.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
Any modification, equivalent replacement or improvement made within novel spirit and principle etc., should be included in the guarantor of the utility model
Within the scope of shield.
Claims (8)
1. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, which is characterized in that including positioning label and
The UWB base stations of multiple covering room areas, the positioning label include controller, the Big Dipper positioning mould for outdoor positioning
Block, the power module for the UWB locating modules of indoor positioning and for the power supply of each component, it is the Beidou positioning module, described
UWB modules, the power module are electrically connected with the controller；
Wherein, when the positioning label is located at room area, the controller controls the UWB locating modules work, described
UWB locating modules emit impulse radio, and multiple UWB base stations receive the impulse radio and emit feedback signal, described
UWB locating modules receive the feedback signal, and indoor positioning coordinate information is calculated by controller analysis；
When the positioning label is in outdoor area, the controller controls the UWB locating modules to be stopped, and controls
The Beidou positioning module work, the Beidou positioning module receive the signal of Beidou satellite navigation system transmitting, and by institute
It states controller analysis and outdoor positioning coordinate information is calculated.
2. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, feature exist as described in claim 1
In the positioning label further includes the shape for showing the indoor positioning coordinate signal and the outdoor positioning coordinate information
State display module, the state display module are electrically connected with the controller.
3. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, feature exist as described in claim 1
In the UWB locating modules are included for emitting the first sending module of impulse radio and for receiving the UWB base stations
First receiving module of the feedback signal of transmitting；The UWB base stations include for send the second sending module of feedback signal with
And the second receiving module for receiving impulse radio.
4. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, feature exist as described in claim 1
In what the controller included connecting with the UWB locating modules believes for analyzing to calculate and generate the indoor positioning coordinate
First computing module of breath and the analysis that is used for being connect with the Beidou positioning module calculate and generate the outdoor positioning seat
Mark the second computing module of information.
5. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, feature exist as described in claim 1
In the quantity of the UWB base stations is at least 3.
6. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, feature exist as claimed in claim 5
In the minimum angle of triangle formed between arbitrary 3 UWB base stations is more than or equal to 15 °.
7. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, feature exist as described in claim 1
In the positioning label is further included for the wireless communication module with external communication, the wireless communication module and the control
Device is electrically connected.
8. such as indoor and outdoor seamless butt junction location system of the claim 1-7 any one of them based on UWB and dipper system,
It is characterized in that, the controller is ARM controller.
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| CN201721708249.3U CN207528921U (en) | 2017-12-08 | 2017-12-08 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
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| CN201721708249.3U CN207528921U (en) | 2017-12-08 | 2017-12-08 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107783162A (en) * | 2017-12-08 | 2018-03-09 | 深圳市中舟智能科技有限公司 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
| CN108954488A (en) * | 2018-07-25 | 2018-12-07 | 浙江工业大学 | The energy-saving heating system and method positioned using Beidou |
| CN109028282A (en) * | 2018-07-25 | 2018-12-18 | 浙江工业大学 | Automatic tracing heating system and method with accurate positioning device |
| CN109028280A (en) * | 2018-07-25 | 2018-12-18 | 浙江工业大学 | Utilize the temperature-controlling system and method for competition learning |
| CN109059172A (en) * | 2018-07-25 | 2018-12-21 | 浙江工业大学 | Automatic tracing heating system and method based on binary prize algorithm |
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2017
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783162A (en) * | 2017-12-08 | 2018-03-09 | 深圳市中舟智能科技有限公司 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
| CN108954488A (en) * | 2018-07-25 | 2018-12-07 | 浙江工业大学 | The energy-saving heating system and method positioned using Beidou |
| CN109028282A (en) * | 2018-07-25 | 2018-12-18 | 浙江工业大学 | Automatic tracing heating system and method with accurate positioning device |
| CN109028280A (en) * | 2018-07-25 | 2018-12-18 | 浙江工业大学 | Utilize the temperature-controlling system and method for competition learning |
| CN109059172A (en) * | 2018-07-25 | 2018-12-21 | 浙江工业大学 | Automatic tracing heating system and method based on binary prize algorithm |
| CN109185970A (en) * | 2018-07-25 | 2019-01-11 | 浙江工业大学 | It is a kind of towards the automatic final heating device and method of stablizing heating profiles |
| CN108954488B (en) * | 2018-07-25 | 2021-04-20 | 浙江工业大学 | Energy-saving heating system and method using Beidou positioning |
| CN109059172B (en) * | 2018-07-25 | 2021-04-27 | 浙江工业大学 | Automatic tracking heating system and method based on binary champion algorithm |
| CN109028280B (en) * | 2018-07-25 | 2021-06-25 | 浙江工业大学 | Temperature control system and method using competitive learning |
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