AU2015388821A1 - Dynamic locating method and device based on UWB combined with laser ranging - Google Patents

Dynamic locating method and device based on UWB combined with laser ranging Download PDF

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AU2015388821A1
AU2015388821A1 AU2015388821A AU2015388821A AU2015388821A1 AU 2015388821 A1 AU2015388821 A1 AU 2015388821A1 AU 2015388821 A AU2015388821 A AU 2015388821A AU 2015388821 A AU2015388821 A AU 2015388821A AU 2015388821 A1 AU2015388821 A1 AU 2015388821A1
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wireless communication
uwb
positioning
sensors
uwb wireless
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AU2015388821B2 (en
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Wanli Liu
Yiming Liu
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S5/0257—Hybrid positioning

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

A dynamic locating method and device based on UWB combined with laser ranging, which belong to dynamic locating methods and devices. The device comprises: an ultra-wideband wireless communication UWB sensor (2), a UWB locating tag (4), a laser ranging sensor (3), an upper computer (5) and a POE switch (7). The method comprises: arranging ultra-wideband wireless communication UWB sensor (2) base stations in an area to be sensed; fixedly mounting the laser ranging sensor (3) on the ultra-wideband wireless communication UWB sensor (2); fixing the UWB locating tag (4) on a target to be detected; and connecting the ultra-wideband wireless communication UWB sensor (2) and the laser ranging sensor (3) to the upper computer (5) by means of the POE switch (7). Each ultra-wideband wireless communication UWB sensor (2) is equipped with a laser ranging sensor (3) to obtain the relative distance between every two ultra-wideband wireless communication UWB sensors (2), so as to redetermine or calibrate the coordinates of each ultra-wideband wireless communication UWB sensor (2) after movement thereof, and continue to realize the dynamic locating requirements. Advantage: the dynamic locating method which combines UWB and laser ranging makes locating more precise, while being safe and reliable, easy to mount, and convenient to operate.

Description

_Description_
Dynamic Positioning Method and Device Based on Combination of UWB and Laser Ranging I. Field of the Invention
The present invention relates to dynamic positioning method and device, in particular to dynamic positioning method and device based on combination of UWB and laser ranging. II. Background of the Invention
Positioning techniques refer to techniques for determining the position information of a target to be measured. Along with the rapid development of the modern society, there are more and more targets which need to be positioned accurately in various fields. Hence, higher requirements for positioning techniques have been put forward; especially, accurate positioning for dynamically moving objects has become a key concern nowadays. However, in some fields in the modem society, some conventional dynamic positioning methods cannot meet the increasingly higher requirements for accurate positioning. In such a context, Ultra-Wide Band (UWB) wireless communication positioning systems have emerged at the right moment, making the accurate positioning of dynamic targets possible.
The UWB wireless communication technique, which is also referred to as Impulse Radio technique, is an advanced wireless communication technique at present. It realizes ultra-wide band and high-speed data transmission within a short range. In addition, compared with other wireless communication techniques, the UWB technique has advantages such as wider bandwidth, higher data transmission speed, lower power consumption, and higher safety performance, etc., owing to its modulation mode and multi-access technique. Therefore, the UWB technique has drawn great attention.
Existing dynamic positioning methods mainly include infrared positioning method, Bluetooth positioning method, wireless positioning method, and Zigbee positioning method, etc. However, infrared positioning method is limited to measurement within the visual range and is not suitable in case of long distance; besides, infrared positioning method has low positioning accuracy, often cannot meet the measurement requirement, and is susceptible to disturbances of the measurement environment; though the Bluetooth technique can meet the requirement for accurate positioning when compared with the other positioning methods, it is not a fully mature technique and cannot be applied extensively in actual positioning and measurement; in addition, the Bluetooth technique has low communication rates; wireless and Zigbee positioning methods are mainly used for short-distance communication, and they have drawbacks including low reliability and poor stability, etc., and often cannot meet the requirement for positioning accuracy.
To conduct positioning of a dynamic target with an UWB wireless communication system, base stations must be arranged first, i.e., UWB wireless communication sensors must be arranged as fixed base stations, so as to accomplish measurement of the dynamic target. However, once any of the base stations is moved, which means the coordinates of the UWB wireless communication sensor is changed, the positioning of the dynamic target will be inaccurate, because the UWB system cannot obtain the new coordinates of the base station automatically after the movement. In addition, to conduct positioning of a dynamic target within a large area that is beyond the positioning scope of the UWB wireless communication system, more UWB wireless communication sensors have to be deployed, which not only severely increase the cost, but also cannot solve the problem radically. • 1· III. Contents of the Invention
The object of the present invention is to provide dynamic positioning method and device based on the combination of UWB and laser ranging, which solves the problem of compromised positioning accuracy after the movement of an UWB wireless communication sensor and realizes dynamic positioning of the detection target.
The object of the present invention is attained as follows: the dynamic positioning device comprises UWB wireless communication sensors, an UWB positioning tag, laser ranging sensors, an upper computer, supports and a POE (Power Over Ethernet) switch, wherein, the movable supports are arranged in an area to be detected; the UWB wireless communication sensors are installed and fixed on the supports as UWB base stations; the laser ranging sensors are installed and fixed on the UWB wireless communication sensors; the UWB positioning tag is fixed on a target to be detected; the UWB wireless communication sensors and the laser ranging sensors are connected to the upper computer through the POE switch; the upper computer is arranged at a control spot, a detection area system model is established in the upper computer, data are collected from the UWB wireless communication sensors and the laser ranging sensors, and the data is analyzed and processed. A dynamic positioning method based on the combination of UWB and laser ranging, comprising the following steps: A. arranging supports according to the environment where a target to be detected is located, and installing UWB wireless communication sensors as UWB base stations on the supports; installing and fixing an UWB positioning tag on the target to be detected; establishing a coordinate system according to the environment of the area to be detected, and measuring the three dimensional coordinates of each UWB wireless communication sensor; B. installing and fixing laser ranging sensors on the UWB wireless communication sensors; C. connecting the UWB wireless communication sensors and the laser ranging sensor according to the system requirement and connecting them to the upper computer system, so as to establish an Ethernet; D. establishing a dynamic positioning and detection model in the upper computer, according to the actual detection environment and the actual positions of the arranged UWB wireless communication sensors; establishing a distance measurement system model in the upper computer according to the actual positions of the arranged laser ranging sensors; E. calibrating the UWB wireless communication sensors, checking the installation process for any fault, and checking whether the positioning system meets the requirement for positioning accuracy; F. operating the dynamic positioning system, positioning the UWB positioning tag on the target to be detected by means of TDOA algorithm, and displaying the three dimensional coordinates and real-time position of the target to be detected; G. storing the positioning data into a database system in real time, and plotting the movement track of the positioned target; H. moving a base station of UWB wireless communication sensor, measuring the distance with the laser ranging sensors, and recalibrating the coordinates of the UWB wireless communication sensor; I. inputting the new coordinates of the UWB wireless communication sensor into the dynamic positioning and detection model, and conducting the real-time positioning of the dynamic target to be detected further by repeating the steps F-G; •2· J. manually calibrating the positions of the UWB wireless communication sensors again by repeating the steps E-G to ensure the accuracy of positioning of the dynamic target, after the entire positioning and detection system has operated for more than 100 hours or the base stations of UWB wireless communication sensors has been moved for more than 20 times.
The step A comprises the following steps:
Al. arranging four UWB wireless communication sensors as base stations on the supports in the area to be detected, wherein, one of the base stations of UWB wireless communication sensors is used as a time source and a master sensor, while the rest three base stations of UWB wireless communication sensors are used as slave sensors; A2. arranging the four base stations of UWB wireless communication sensors in a square, to ensure the accuracy of measurement meets the requirement for positioning of the dynamic target, wherein, the sensors are arranged at an elevation higher than the elevation of the positioned target by 2 meters or more to minimize errors; the UWB wireless communication sensors are inclined downwards at about 25°; A3, arranging the UWB wireless communication sensors in such a way that the signal from the positioning tag at any position of the area to be detected can be received by at least three UWB wireless communication sensors; A4. establishing a coordinate system according to the actual detection environment, wherein, to meet the requirement for positioning accuracy, any base station of UWB wireless communication sensor shall not be selected as the origin; and obtaining the coordinate of each base station of UWB wireless communication sensor through a laser ranger.
In the step B, attention shall be paid that during the installation process, the laser ranging sensors should be firmly fastened to the UWB wireless communication sensors and should not be sheltered; in addition, to measure the distance between every two UWB wireless communication sensors accurately, the center point of the laser emitting end of the laser ranging sensor shall be kept in the same horizontal line with the signal emitting center point of the UWB wireless communication sensor.
The step C comprises the following steps:
Cl. connecting the UWB wireless communication sensors in a star-connection structure; and outputting the time signal from any port of the sensor that is set as a time source to a top right comer port of each slave sensor respectively, wherein, since four UWB wireless communication sensors are selected and used, three ports of the UWB wireless communication sensor which serves as a time source are used as output ports, and the top right comer input ports on the rest three UWB wireless communication sensors are connected to the output ports, so as to accomplish signal synchronization; C2. connecting the four UWB wireless communication sensors with each other through network cables with signal shielding, to ensure the time synchronization signal is not affected; C3. selecting POE mode and a POE switch for data transmission and power supply to the sensors in the dynamic positioning system based on the combination of UWB and laser ranging; and connecting the UWB wireless communication sensors and the laser ranging sensors to the ports of the POE switch through network cables, to establish an Ethernet; C4. connecting the POE switch to the upper computer through network cable, and assigning IP address to each UWB wireless communication sensor and each laser ranging sensor through a DHCP server. •3·
The step D comprises the following steps:
Dl. establishing a positioning system model of the dynamic target to be detected in the upper computer according to the actual environment and the coordinates of the base stations of UWB wireless communication sensors in order to meet the positioning requirement, and displaying the position of the dynamic target in real time; D2. establishing a laser ranging sensor information gathering system, to facilitate the calculation of the coordinates of the moved UWB wireless communication sensors; D3. utilizing the positioning system model for the dynamic target in the upper computer to acquire signals from the UWB wireless communication sensors in the detection area; checking whether there is any abnormality in the time synchronization between the UWB wireless communication sensors and whether the UWB wireless communication sensors have been connected to the upper computer system on the basis of the received signal information, and making corrections if required; D4. ascertaining that the dynamic target positioning system and the sensor network operate normally, and setting a noise threshold in the system to filter interfering signals and improve detection accuracy.
The step E comprises the following steps:
El. selecting a point in the detection area to arrange the UWB positioning tag, and measuring the three dimensional coordinate of the positioning tag; and adding a calibration point in the dynamic target positioning system model, and inputting the obtained three dimensional coordinate information as the three dimensional coordinate information of the calibration point into the dynamic positioning system model in the upper computer; E2. operating the system, and checking whether the system can detect the UWB positioning tag and provide coordinates; in addition, comparing the three dimensional coordinate of the UWB positioning tag provided in the dynamic target positioning system with the actual three dimensional coordinate of the UWB positioning tag, to check whether the positioning accuracy meets the accuracy requirement.
In the step F, the UWB wireless communication sensors conduct positioning of the UWB positioning tag with a TDOA positioning algorithm, wherein, TDOA refers to Time Difference of Arrival, i.e., measuring the difference between the times when the signal from the same UWB positioning tag is received by different UWB wireless communication sensors, and thereby calculating the difference between the distances from the UWB positioning tag to different UWB wireless communication sensors, and calculating according to the difference in distance; usually, the positioning is conducted with a hyperbolic positioning algorithm.
In the method of positioning the UWB positioning tag through the TDOA algorithm, the signal from the UWB positioning tag shall be received by at least three UWB wireless communication sensors at the same time, in order to ensure that the UWB positioning tag can be positioned accurately; the positioning accuracy will be higher if the signal is received by more UWB wireless communication sensors; positioning of the dynamic target is conducted through the algorithm, accurate three dimensional coordinates are provided, and the position of the target is displayed in the dynamic target system model.
In the step G, the obtained real-time position information of the dynamic target is stored in a data gathering database of the upper computer system, and the real-time position of the dynamic target is provided and a movement track of the dynamic target is plotted on the basis of the obtained information. .4.
The step H comprises the following steps: HI. utilizing the laser ranging sensors to obtain the distance between a moved UWB wireless communication sensor and the other three unmoved UWB wireless communication sensors, and storing the obtained three distance values into the distance measurement system model of the upper computer, because when one of the UWB wireless communication sensor is moved and its coordinate is changed accordingly, the system model in the upper computer cannot obtain the new coordinate of the moved base station of UWB wireless communication sensor automatically, and if the new coordinate is measured manually, a lot of work and time will be consumed and inconvenience will be caused; H2. conducting computation in the distance measurement system model of the upper computer using the algorithm to solve the coordinate of the moved UWB wireless communication sensor, and inputting the coordinate into the dynamic target positioning model system again, so as to continue the positioning of the dynamic target by repeating the steps F-G.
Beneficial effects: with the above-mentioned technical scheme, the distance between two objects can be measured with a laser ranging sensor as follows: a laser pulse is emitted from a laser diode of the sensor towards the target to be measured, and the laser is reflected by the target and is scattered in all directions. A part of the scattered light returns to the receiver of the sensor, and is received by the optical system and displayed on an avalanche photodiode. The avalanche photodiode is an optical sensor with an internal amplification function, and it can detect very weak optical signals, and record and process the time elapsed from the moment the light pulse is emitted to the moment the return light is received, so that the distance to a target can be measured. Laser ranging sensors are extensively applied in modern industrial fields, and provide accurate distance measurements for industrial production, which could not be obtained with conventional ranging methods in the past, such as ultrasonic ranging, etc.
Laser ranging not only can measure the distance between two objects accurately, but also have advantages including fast response speed, lower error, and less susceptible to interference, etc. Therefore, by combining laser ranging sensors with UWB wireless communication sensors, accurate positioning of a dynamic target can be conducted, and redetermination and correction of the position of a moved UWB wireless communication sensor can be realized, so that accurate coordinates of the sensor can be obtained and the positioning of the dynamic target can be continued. (1) Strong anti-interference capability: UWB signals are transmitted by dispersing weak radio pulse signals in a wide frequency band; thus, the output power is even lower than the noise level generated by ordinary devices. The signal energy is recovered when the signals are received, and a spread spectrum gain is generated in a despreading process. (2) High transmission rate: the UWB data transmission rate can be up to tens of Mbps or even hundreds of Mbps; thus, the data transmission rate is greatly improved when compared with other approaches. (3) Ultra wide bandwidth: the bandwidth used for UWB is higher than 1GHz, and may be as high as several GHz; in addition, an UWB communication system may work together with an existing narrow band communication system without interference with each other. Thus, a new time-domain radio resource is developed in today's communication environment in which the usable frequency resources become increasingly rare. (4) High spectrum utilization ratio and large UWB system capacity: since an impulse sequence is emitted directly instead of generating sinusoidal carrier signals, the UWB system has a very wide frequency spectrum and very low average power, which are beneficial for coexistence with other systems, and thereby the spectrum utilization ratio can be improved. -5- (5) Low transmission power: in short-distance communication applications, usually the transmission power of an UWB transmitter can be lower than lmW. The extremely low transmission power is helpful for friendly coexistence of the UWB with an existing narrow-band communication, and is of great significance for improving the utilization ratio of the radio spectrum, and can alleviate the problem of increasingly rare radio spectrum resources. (6) Very high multi-path resolution: since UWB utilizes narrow pulses that have a very short duration, the resolution is very high in time and space, beneficial for ranging, positioning, and tracking activities, etc.
Advantages of the invention: (1) UWB wireless communication sensors are selected for real-time positioning of a dynamic target, so that the advantages of the UWB technique itself, such as high bandwidth, low power dissipation, strong anti-interference capability, high transmission rate, high spectrum utilization ratio, high system capacity, and high multi-path resolution, etc., are utilized, to ensure positioning accuracy, reduce positioning errors, and meet the requirement for dynamic positioning. (2) Laser ranging not only can measure the distance between two objects accurately, but also have advantages including fast response speed, lower error, and less susceptible to interference, etc. Therefore, by using laser ranging sensors and UWB wireless communication sensors in combination, accurate positioning of a dynamic target can be conducted, and redetermination and correction of the position of a moved UWB wireless communication sensor can be realized, so that accurate coordinate of the sensor can be obtained and the positioning of the dynamic target can be continued. (3) The method and device provided in the present invention are safe and reliable to use, and easy to install and operate, avoid the situations where errors may easily occur in actual dynamic measurement, and have great reference value and practical significance. IV. Description of the Drawings
Fig. 1 is a spatial arrangement diagram of the UWB sensors, laser ranging sensors and positioning tag according to the present invention;
Fig. 2 is an installation schematic diagram of the UWB sensors, laser ranging sensors and supports according to the present invention;
Fig. 3 is a connection diagram of the UWB sensors according to the present invention;
Fig. 4 is a functional diagram of the operating mode of the UWB sensors according to the present invention;
Fig. 5 is a connection diagram of the laser ranging sensors according to the present invention;
Fig. 6 is a functional diagram of positioning and calibration with the laser ranging sensors according to the present invention;
Fig. 7 is a flow chart of the dynamic positioning method based on the combination of UWB and laser ranging according to the present invention.
In the figures: 1 - support; 2 - UWB wireless communication sensor; 2-1 - UWB wireless communication main sensor, 2-2 - first slave communication sensor; 2-3 - second slave communication sensor; 2-4 - third slave communication sensor; 3 - laser ranging sensor; 3-1 - first laser ranging sensor; 3-2 - second laser ranging sensor; 3-3 - third laser ranging sensor; 3-4 - fourth laser ranging sensor; 4 - UWB positioning tag; 5 - upper computer; 6 - base; 7 - POE switch. -6- V. Embodiments
Hereunder the present invention will be further described with reference to the accompanying drawings.
Example 1: it can be seen from Figs. 1, 2, 3 and 5 that the dynamic positioning device based on the combination of UWB and laser ranging according to the present invention comprises: supports 1; UWB wireless communication sensors 2, wherein, a UWB wireless communication main sensor 2-1 is selected as a time source and a main sensor, while a first slave communication sensor 2-2, a second slave communication sensor 2-3 and a third slave communication sensor 2-4 are used as UWB wireless communication slave sensors; laser ranging sensors 3, including a first laser ranging sensor 3-1, a second laser ranging sensor 3-2, a third laser ranging sensor 3-3 and a fourth laser ranging sensor 3-4; an UWB positioning tag 4, an upper computer 5, a base 6, and a POE switch 7; the movable supports are arranged in an area to be detected; the UWB wireless communication sensors are installed and fixed on the supports as UWB base stations; the laser ranging sensors are installed and fixed on the UWB wireless communication sensors; the UWB positioning tag is fixed to a target to be detected; and the UWB wireless communication sensors and the laser ranging sensors are connected to the upper computer through the POE switch. The upper computer is arranged at a control spot, a detection area system model is established in the upper computer, data are collected from the UWB wireless communication sensors and the laser ranging sensors, and the data are analyzed and processed.
Figs. 1 and 2 show the spatial arrangement of the dynamic positioning device based on the combination of UWB and laser ranging according to the present invention and the layout of the UWB sensors, laser ranging sensors, supports and base.
The dynamic positioning method based on the combination of UWB and laser ranging according to the present invention comprises the following steps: A. arranging supports according to the environment where a target to be detected is located, and installing UWB wireless communication sensors as UWB base stations on the supports; installing and fixing an UWB positioning tag on the target to be detected; establishing a coordinate system according to the environment of the area to be detected, and measuring the three dimensional coordinates of each UWB wireless communication sensor; B. installing and fixing laser ranging sensors on the UWB wireless communication sensors; C. connecting the UWB wireless communication sensors and the laser ranging sensor according to the system requirement and connecting them to the upper computer system, so as to establish an Ethernet; D. establishing a dynamic positioning and detection model in the upper computer, according to the actual detection environment and the actual positions of the arranged UWB wireless communication sensors; establishing a distance measurement system model in the upper computer according to the actual positions of the arranged laser ranging sensors; E. calibrating the UWB wireless communication sensors, checking the installation process for any fault, and checking whether the positioning system meets the requirement for positioning accuracy; F. operating the dynamic positioning system, positioning the UWB positioning tag on the target to be detected by means of TDOA algorithm, and displaying the three dimensional coordinates and real-time position of the target to be detected; G. storing the positioning data into a database system in real time, and plotting the movement track of the positioned target; 7· H. moving a base station of UWB wireless communication sensor, measuring the distance with the laser ranging sensors, and recalibrating the coordinates of the UWB wireless communication sensor; I. inputting the new coordinates of the UWB wireless communication sensor into the dynamic positioning and detection model, and conducting the real-time positioning of the dynamic target to be detected further by repeating the steps F-G; J. manually calibrating the positions of the UWB wireless communication sensors again by repeating the steps E-G to ensure the accuracy of positioning of the dynamic target, after the entire positioning and detection system has operated for more than 100 hours or the base stations of UWB wireless communication sensors has been moved for more than 20 times.
The step A comprises the following steps:
Al. arranging four UWB wireless communication sensors as base stations on the supports in the area to be detected, wherein, one of the base stations of UWB wireless communication sensors is used as a time source and a master sensor, while the rest three base stations of UWB wireless communication sensors are used as slave sensors; A2. arranging the four base stations of UWB wireless communication sensors in a square, to ensure the accuracy of measurement meets the requirement for positioning of the dynamic target, wherein, the sensors are arranged at an elevation higher than the elevation of the positioned target by 2 meters or more to minimize errors; the UWB wireless communication sensors are inclined downwards at about 25°; A3, arranging the UWB wireless communication sensors in such a way that the signal from the positioning tag at any position of the area to be detected can be received by at least three UWB wireless communication sensors; A4. establishing a coordinate system according to the actual detection environment, wherein, to meet the requirement for positioning accuracy, any base station of UWB wireless communication sensor shall not be selected as the origin; and obtaining the coordinate of each base station of UWB wireless communication sensor through a laser ranger.
In the step B, attention shall be paid that during the installation process, the laser ranging sensors should be firmly fastened to the UWB wireless communication sensors and should not be sheltered; in addition, to measure the distance between every two UWB wireless communication sensors accurately, the center point of the laser emitting end of the laser ranging sensor shall be kept in the same horizontal line with the signal emitting center point of the UWB wireless communication sensor.
The step C comprises the following steps:
Cl. connecting the UWB wireless communication sensors in a star-connection structure; and outputting the time signal from any port of the sensor that is set as a time source to a top right corner port of each slave sensor respectively, wherein, since four UWB wireless communication sensors are selected and used, three ports of the UWB wireless communication sensor which serves as a time source are used as output ports, and the top right corner input ports on the rest three UWB wireless communication sensors are connected to the output ports, so as to accomplish signal synchronization; C2. connecting the four UWB wireless communication sensors with each other through network cables with signal shielding, to ensure the time synchronization signal is not affected; C3. selecting POE mode and a POE switch for data transmission and power supply to the sensors in the dynamic positioning system based on the combination of UWB and laser ranging; and 8· connecting the UWB wireless communication sensors and the laser ranging sensors to the ports of the POE switch through network cables, to establish an Ethernet; C4. connecting the POE switch to the upper computer through network cable, and assigning IP address to each UWB wireless communication sensor and each laser ranging sensor through a DHCP server.
The step D comprises the following steps:
Dl. establishing a positioning system model of the dynamic target to be detected in the upper computer according to the actual environment and the coordinates of the base stations of UWB wireless communication sensors in order to meet the positioning requirement, and displaying the position of the dynamic target in real time; D2. establishing a laser ranging sensor information gathering system, to facilitate the calculation of the coordinates of the moved UWB wireless communication sensors; D3. utilizing the positioning system model for the dynamic target in the upper computer to acquire signals from the UWB wireless communication sensors in the detection area; checking whether there is any abnormality in the time synchronization between the UWB wireless communication sensors and whether the UWB wireless communication sensors have been connected to the upper computer system on the basis of the received signal information, and making corrections if required; D4. ascertaining that the dynamic target positioning system and the sensor network operate normally, and setting a noise threshold in the system to filter interfering signals and improve detection accuracy.
The step E comprises the following steps:
El. selecting a point in the detection area to arrange the UWB positioning tag, and measuring the three dimensional coordinate of the positioning tag; and adding a calibration point in the dynamic target positioning system model, and inputting the obtained three dimensional coordinate information as the three dimensional coordinate information of the calibration point into the dynamic positioning system model in the upper computer; E2. operating the system, and checking whether the system can detect the UWB positioning tag and provide coordinates; in addition, comparing the three dimensional coordinate of the UWB positioning tag provided in the dynamic target positioning system with the actual three dimensional coordinate of the UWB positioning tag, to check whether the positioning accuracy meets the accuracy requirement.
In the step F, the UWB wireless communication sensors conduct positioning of the UWB positioning tag with a TDOA positioning algorithm, wherein, TDOA refers to Time Difference of Arrival, i.e., measuring the difference between the times when the signal from the same UWB positioning tag is received by different UWB wireless communication sensors, and thereby calculating the difference between the distances from the UWB positioning tag to different UWB wireless communication sensors, and calculating according to the difference in distance; usually, the positioning is conducted with a hyperbolic positioning algorithm.
In the method of positioning the UWB positioning tag through the TDOA algorithm, the signal from the UWB positioning tag shall be received by at least three UWB wireless communication sensors at the same time, in order to ensure that the UWB positioning tag can be positioned accurately; the positioning accuracy will be higher if the signal is received by more UWB wireless communication sensors; positioning of the dynamic target is conducted through the algorithm, accurate three dimensional coordinates are provided, and the position of the target is displayed in the dynamic target system model. 9·
In the step G, the obtained real-time position information of the dynamic target is stored in a data gathering database of the upper computer system, and the real-time position of the dynamic target is provided and a movement track of the dynamic target is plotted on the basis of the obtained information.
The step H comprises the following steps: HI. utilizing the laser ranging sensors to obtain the distance between a moved UWB wireless communication sensor and the other three unmoved UWB wireless communication sensors, and storing the obtained three distance values into the distance measurement system model of the upper computer, because when one of the UWB wireless communication sensor is moved and its coordinate is changed accordingly, the system model in the upper computer cannot obtain the new coordinate of the moved base station of UWB wireless communication sensor automatically, and if the new coordinate is measured manually, a lot of work and time will be consumed and inconvenience will be caused; H2. conducting computation in the distance measurement system model of the upper computer using the algorithm to solve the coordinate of the moved UWB wireless communication sensor, and inputting the coordinate into the dynamic target positioning model system again, so as to continue the positioning of the dynamic target by repeating the steps F-G.
It can be seen from Fig. 3 that an UWB wireless communication sensor is used as a main sensor 2-1 and a time source, time synchronization wires are connected from any output port of the UWB wireless communication main sensor 2-1 to the top right comer input ports of a first slave communication sensor 2-2, a second slave communication sensor 2-3 and a third slave communication sensor 2-4, so that the four UWB wireless communication sensors are connected for time synchronization, as shown in the figure.
As shown in Figs. 3 and 5, the four UWB wireless communication sensors and the four laser ranging sensors are connected through network cables with a POE switch, and the POE switch assigns IP addresses and supplies power to the UWB wireless communication sensors and the laser ranging sensors, and is connected through a network cable to an upper computer, so as to obtain the measurement data received by the sensors.
As shown in Fig. 4, the algorithm flow of the TDOA algorithm employed by the UWB wireless communication sensors is as follows: (1) The UWB positioning tag emits a signal, and the signal is received by the four UWB wireless communication sensors, including the main communication sensor 2-1, the first slave communication sensor 2-2, the second slave communication sensor 2-3 and the third slave communication sensor 2-4; the receipt times are tl, t2, t3 and t4; thus, the distances between the UWB positioning tag and the four sensors are denoted as ctl, ct2, ct3 and ct4 respectively, where, c is velocity of light. (2) equations are established according to the measured times, on the basis of a fact that the difference between the distances from the UWB positioning tag to every two UWB wireless communication sensors is a fixed value; the coordinate of the UWB positioning tag is denoted as (x, y, z); then, the coordinates of the four UWB wireless communication sensors are: (xl, yl, zl), (x2, y2, z2), (x3, y3, z3) and (x4, y4, z4).
Therefore, the equations are: let 1 -ct2l=l((x-x 1 )A2+(y-y 1 )Λ2+(ζ-ζ 1 ))A l/2-((x-x2)A2+(y-y2) A2+(z-z2)A2)A 1/21 let 1 -ct3 l=l((x-x 1 )A2+(y-y 1 )Λ2+(ζ-ζ 1 ))A l/2-((x-x3)A2+(y-y3) A2+(z-z3)A2)A 1/21 let 1 -ct4l=l((x-x 1 )A2+(y-y 1 )Λ2+(ζ-ζ 1 ))A !/2-((x-x4)A2+(y-y4)A2+(z-z4)A2)A 1/21 -10-
Thus, the equations are hyperbolic expressions, and a focus of the hyperbolic curve is at coordinate (x, y, z). (3) The solution of the above equations is the position of the UWB positioning tag; then, other optimization algorithms are added to the system to optimize and correct the obtained coordinates; thus, the accurate position of the UWB positioning tag is obtained.
As shown in Fig. 6, with the dynamic positioning method based on the combination of UWB and laser ranging, after an UWB wireless communication sensor is moved, the new coordinate of the UWB wireless communication sensor can be calculated utilizing the laser ranging sensors. Specifically, the calculation method is as follows: (1) suppose the third slave communication sensor 2-4 is moved, distance values d3, d4 and d5 can be obtained utilizing the fourth laser ranging sensor 3-4; then, based on the known coordinates (xl, yl, zl), (x2, y2, z2) and (x3, y3, z3) of the main communication sensor 2-1, the first slave communication sensor 2-2 and the second slave communication sensor 2-3, the coordinate (x, y, z) of the third slave communication sensor 2-4 can be calculated. i.e.:
Id3 l=l((x-x2)A2+(y-y2)A2+(z-z2))A 1/2 ld4l=l((x-x3)A2+(y-y3)A2+(z-z3))Al/2 Id5 l=l((x-xl )A2+(y-y 1 )A2+(z-z 1 ))A 1/2 (2) the coordinate (x, y, z) of the UWB wireless communication sensor 2-4 is obtained by solving the above equations, and inputted into the dynamic target positioning system model, so that the positioning of the dynamic target can be continued.
As shown in Fig. 7, the flow of the dynamic positioning method based on the combination of UWB and laser ranging is: UWB wireless communication sensors are arranged in an area to be detected, and laser ranging sensors are mounted on the UWB wireless communication sensors; Ethernet connections are established; an area positioning model is established in the upper computer, the coordinates of base stations of the UWB wireless communication sensors are measured, and the dynamic positioning system is calibrated by means of an UWB positioning tag; positioning is conducted with a TDOA method when the system operates normally; dynamic positioning and detection is carried out; the three dimensional coordinate of the UWB positioning tag is obtained and stored into a database, and the actual position of the UWB positioning tag is displayed in the system model, wherein, when the coordinate of an UWB wireless communication sensor is changed, the distance between every two UWB wireless communication sensors is measured with the laser ranging sensors, new coordinate is calculated with an algorithm and inputted into the system again, so that the positioning of the dynamic target can be continued. • it·

Claims (10)

  1. Claims
    1. A dynamic positioning device based on combination of UWB and laser ranging, wherein, the dynamic positioning device comprises UWB wireless communication sensors, an UWB positioning tag, laser ranging sensors, an upper computer, supports and a POE (Power Over Ethernet) switch, wherein, the movable supports are arranged in an area to be detected; the UWB wireless communication sensors are installed and fixed on the supports as UWB base stations; the laser ranging sensors are installed and fixed on the UWB wireless communication sensors; the UWB positioning tag is fixed on a target to be detected; the UWB wireless communication sensors and the laser ranging sensors are connected to the upper computer through the POE switch; the upper computer is arranged at a control spot, a detection area system model is established in the upper computer, data are collected from the UWB wireless communication sensors and the laser ranging sensors, and the data is analyzed and processed.
  2. 2. A method for the dynamic positioning device based on combination of UWB and laser ranging according to claim 1, wherein, the method is dynamic positioning method, comprising the following steps: A. arranging supports according to the environment where a target to be detected is located, and installing UWB wireless communication sensors as UWB base stations on the supports; installing and fixing an UWB positioning tag on the target to be detected; establishing a coordinate system according to the environment of the area to be detected, and measuring the three dimensional coordinates of each UWB wireless communication sensor; B. installing and fixing laser ranging sensors on the UWB wireless communication sensors; C. connecting the UWB wireless communication sensors and the laser ranging sensor according to the system requirement and connecting them to the upper computer system, so as to establish an Ethernet; D. establishing a dynamic positioning and detection model in the upper computer, according to the actual detection environment and the actual positions of the arranged UWB wireless communication sensors; establishing a distance measurement system model in the upper computer according to the actual positions of the arranged laser ranging sensors; E. calibrating the UWB wireless communication sensors, checking the installation process for any fault, and checking whether the positioning system meets the requirement for positioning accuracy; F. operating the dynamic positioning system, positioning the UWB positioning tag on the target to be detected by means of TDOA algorithm, and displaying the three dimensional coordinates and real-time position of the target to be detected; G. storing the positioning data into a database system in real time, and plotting the movement track of the positioned target; H. moving a base station of UWB wireless communication sensor, measuring the distance with the laser ranging sensors, and recalibrating the coordinates of the UWB wireless communication sensor; I. inputting the new coordinates of the UWB wireless communication sensor into the dynamic positioning and detection model, and conducting the real-time positioning of the dynamic target to be detected further by repeating the steps F-G; J. manually calibrating the positions of the UWB wireless communication sensors again by repeating the steps E-G to ensure the accuracy of positioning of the dynamic target, after the entire positioning and detection system has operated for more than 100 hours or the base stations of UWB wireless communication sensors has been moved for more than 20 times.
  3. 3. The dynamic positioning method based on combination of UWB and laser ranging according to claim 2, wherein, the step A comprises the following steps: Al. arranging four UWB wireless communication sensors as base stations on the supports in the area to be detected, wherein, one of the base stations of UWB wireless communication sensors is used as a time source and a master sensor, while the rest three base stations of UWB wireless communication sensors are used as slave sensors; A2. arranging the four base stations of UWB wireless communication sensors in a square, to ensure the accuracy of measurement meets the requirement for positioning of the dynamic target, wherein, the sensors are arranged at an elevation higher than the elevation of the positioned target by 2 meters or more to minimize errors; the UWB wireless communication sensors are inclined downwards at about 25°; A3, arranging the UWB wireless communication sensors in such a way that the signal from the positioning tag at any position of the area to be detected can be received by at least three UWB wireless communication sensors; A4. establishing a coordinate system according to the actual detection environment, wherein, to meet the requirement for positioning accuracy, any base station of UWB wireless communication sensor shall not be selected as the origin; and obtaining the coordinate of each base station of UWB wireless communication sensor through a laser ranger.
  4. 4. The dynamic positioning method based on combination of UWB and laser ranging according to claim 2, wherein, in the step B, attention shall be paid that during the installation process, the laser ranging sensors should be firmly fastened to the UWB wireless communication sensors and should not be sheltered; in addition, to measure the distance between every two UWB wireless communication sensors accurately, the center point of the laser emitting end of the laser ranging sensor shall be kept in the same horizontal line with the signal emitting center point of the UWB wireless communication sensor.
  5. 5. The dynamic positioning method based on combination of UWB and laser ranging according to claim 2, wherein, the step C comprises the following steps: Cl. connecting the UWB wireless communication sensors in a star-connection structure; and outputting the time signal from any port of the sensor that is set as a time source to a top right corner port of each slave sensor respectively, wherein, since four UWB wireless communication sensors are selected and used, three ports of the UWB wireless communication sensor which serves as a time source are used as output ports, and the top right corner input ports on the rest three UWB wireless communication sensors are connected to the output ports, so as to accomplish signal synchronization; C2. connecting the four UWB wireless communication sensors with each other through network cables with signal shielding, to ensure the time synchronization signal is not affected; C3. selecting POE mode and a POE switch for data transmission and power supply to the sensors in the dynamic positioning system based on the combination of UWB and laser ranging; and connecting the UWB wireless communication sensors and the laser ranging sensors to the ports of the POE switch through network cables, to establish an Ethernet; C4. connecting the POE switch to the upper computer through network cable, and assigning IP address to each UWB wireless communication sensor and each laser ranging sensor through a DHCP server.
  6. 6. The dynamic positioning method based on combination of UWB and laser ranging according to claim 2, wherein, the step D comprises the following steps: Dl. establishing a positioning system model of the dynamic target to be detected in the upper computer according to the actual environment and the coordinates of the base stations of UWB wireless communication sensors in order to meet the positioning requirement, and displaying the position of the dynamic target in real time; D2. establishing a laser ranging sensor information gathering system, to facilitate the calculation of the coordinates of the moved UWB wireless communication sensors; D3. utilizing the positioning system model for the dynamic target in the upper computer to acquire signals from the UWB wireless communication sensors in the detection area; checking whether there is any abnormality in the time synchronization between the UWB wireless communication sensors and whether the UWB wireless communication sensors have been connected to the upper computer system on the basis of the received signal information, and making corrections if required; D4. ascertaining that the dynamic target positioning system and the sensor network operate normally, and setting a noise threshold in the system to filter interfering signals and improve detection accuracy.
  7. 7. The dynamic positioning method based on combination of UWB and laser ranging according to claim 2, wherein, the step E comprises the following steps: El. selecting a point in the detection area to arrange the UWB positioning tag, and measuring the three dimensional coordinate of the positioning tag; and adding a calibration point in the dynamic target positioning system model, and inputting the obtained three dimensional coordinate information as the three dimensional coordinate information of the calibration point into the dynamic positioning system model in the upper computer; E2. operating the system, and checking whether the system can detect the UWB positioning tag and provide coordinates; in addition, comparing the three dimensional coordinate of the UWB positioning tag provided in the dynamic target positioning system with the actual three dimensional coordinate of the UWB positioning tag, to check whether the positioning accuracy meets the accuracy requirement.
  8. 8. The dynamic positioning method based on combination of UWB and laser ranging according to claim 2, wherein, in the step F, the UWB wireless communication sensors conduct positioning of the UWB positioning tag with a TDOA positioning algorithm, wherein, TDOA refers to Time Difference of Arrival, i.e., measuring the difference between the times when the signal from the same UWB positioning tag is received by different UWB wireless communication sensors, and thereby calculating the difference between the distances from the UWB positioning tag to different UWB wireless communication sensors, and calculating according to the difference in distance; usually, the positioning is conducted with a hyperbolic positioning algorithm; in the method of positioning the UWB positioning tag through the TDOA algorithm, the signal from the UWB positioning tag shall be received by at least three UWB wireless communication sensors at the same time, in order to ensure that the UWB positioning tag can be positioned accurately; the positioning accuracy will be higher if the signal is received by more UWB wireless communication sensors; positioning of the dynamic target is conducted through the algorithm, accurate three dimensional coordinates are provided, and the position of the target is displayed in the dynamic target system model.
  9. 9. The dynamic positioning method based on combination of UWB and laser ranging according to claim 2, wherein, in the step G, the obtained real-time position information of the dynamic target is stored in a data gathering database of the upper computer system, and the real-time position of the dynamic target is provided and a movement track of the dynamic target is plotted on the basis of the obtained information.
  10. 10. The dynamic positioning method based on combination of UWB and laser ranging according to claim 2, wherein, the step H comprises the following steps: HI. utilizing the laser ranging sensors to obtain the distance between a moved UWB wireless communication sensor and the other three unmoved UWB wireless communication sensors, and storing the obtained three distance values into the distance measurement system model of the upper computer, because when one of the UWB wireless communication sensor is moved and its coordinate is changed accordingly, the system model in the upper computer cannot obtain the new coordinate of the moved base station of UWB wireless communication sensor automatically, and if the new coordinate is measured manually, a lot of work and time will be consumed and inconvenience will be caused; H2. conducting computation in the distance measurement system model of the upper computer using the algorithm to solve the coordinate of the moved UWB wireless communication sensor, and inputting the coordinate into the dynamic target positioning model system again, so as to continue the positioning of the dynamic target by repeating the steps F-G.
AU2015388821A 2014-12-09 2015-11-03 Dynamic locating method and device based on UWB combined with laser ranging Ceased AU2015388821B2 (en)

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CN201510141734.6 2015-03-27
AUPCT/CN2015/092936 2015-10-27
PCT/CN2015/092936 WO2016091020A1 (en) 2014-12-09 2015-10-27 Uwb-based precise calibration method and apparatus for absolute position of coal cutter
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