CN102082998A - Real time locating method for supporting TDOA (Time Difference Of Arrival), TOA (Time Of Arrival) and RSSI (Receive Strength Signal Indicator) modes - Google Patents
Real time locating method for supporting TDOA (Time Difference Of Arrival), TOA (Time Of Arrival) and RSSI (Receive Strength Signal Indicator) modes Download PDFInfo
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- CN102082998A CN102082998A CN2010100228522A CN201010022852A CN102082998A CN 102082998 A CN102082998 A CN 102082998A CN 2010100228522 A CN2010100228522 A CN 2010100228522A CN 201010022852 A CN201010022852 A CN 201010022852A CN 102082998 A CN102082998 A CN 102082998A
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Abstract
The invention discloses a real time locating method for supporting TDOA (Time Difference Of Arrival), TOA (Time Of Arrival) and RSSI (Receive Strength Signal Indicator) modes. The method comprises the following steps of: (1) providing a locating label and a locating access point utilizing a microwave frequency range; (2) realizing real time locating and tracking of a target through real time locating embedded software and a signal processing algorithm; and (3) completing virtual door control, linear and planar locating algorithms and locating simulation software. In order to meet complex locating requirements on physical distribution processes, the invention realizes the real time locating method for supporting three main locating modes of the TDOA, the TOA and the RSSI and has the advantages of low power consumption, and suitability for door control, linear and planar locating application.
Description
Technical field
The present invention relates to a kind of real-time location method, particularly relate to the real-time location method of a kind of TDOA of support, TOA and three kinds of patterns of RSSI.
Background technology
Real-time positioning system (Real Time Locat ion System RTLS) is meant by software and wireless communication technology, in a space specified (office building, place, city), and the system that target is positioned and follows the tracks of in real time.Along with science and technology develops rapidly, positioning service more and more is subject to people's attention, and as global positioning system (GPS) with based on the technology such as active rfid of site polling, all has been widely used in many fields.But owing to exist technological deficiency; these existing technology also can't be applicable to the pinpoint occasion of a lot of needs; start from the gps system at the end of the seventies owing to need receiving satellite signal; be difficult to be applied to indoor places such as factory, warehouse, building; owing to realizing pinpoint cost reason, gps system is applied to fields such as port and pier, warehouse logistics always with also failing scale in addition.In order to remedy these defectives, be born based on the active rfid technology of rough site polling in the U.S. after 2000, though on cost, possess sizable advantage,, limited its range of application greatly because its positioning accuracy is not high.
On the active rfid technical foundation, active real-time positioning system becomes the principal direction of development.The location algorithm of real-time positioning system mainly comprises TOA (Time of Arrival): the time of advent location technology; TDOA (Time Difference of Arrival): differ from location technology the time of advent; RSSI (ReceivedSignal Strength Indicator): received signal field intensity location technology.Start with from the location requirement of various complexity, merge the real-time positioning system of multiple location technology, will bring new opportunity for the huge real-time positioning system market of China.
Summary of the invention
At the problems referred to above, main purpose of the present invention is to provide the real-time location method of a kind of TDOA of support, TOA and three kinds of patterns of RSSI, compare with common real-time location method, the present invention is in order to satisfy location requirement complicated in the logistics progress, realize supporting the real-time location method of TOA, TDOA and three kinds of main station-keeping modes of RSSI, have low-power consumption, be suitable for gate inhibition, line and plane positioning advantages of application.
The present invention solves above-mentioned technical problem by following technical proposals: the real-time location method of a kind of TDOA of support, TOA and three kinds of patterns of RSSI, may further comprise the steps: the positioning label and the location access point that adopt microwave frequency band are provided, realize the real time location tracking of target by real-time positioning embedded software and signal processing algorithm, three kinds of patterns of TDOA, TOA and RSSI be can support simultaneously, and virtual gate inhibition, linearity, plane positioning algorithm and location simulation software finished.
The scheme that the present invention solves further technical problem is: the real-time localized electron label of low-power consumption adopts an embedded type low-power consumption microcontroller to cooperate two cover wireless transceiver systems to form in design, supports to comprise three kinds of station-keeping mode: TDOA, TOA and RSSI.Wherein the TDOA pattern adopts fixed interval regularly to launch; The TOA pattern adopts answer-mode, realizes the TOA Time Calculation according to the answer signal return time.
The scheme that the present invention solves further technical problem is: real-time localized electron label, avoid adopting special chip, on realizing, can adopt by hardware 2.4G transmitting-receiving baseband chip with extensive choice, simultaneously because the TOA/TDOA mode, all adopt hardware mode directly to realize, can directly adopt low-power consumption microcontroller, reduce the embedded software developing difficulty, can guarantee low-power consumption preferably simultaneously than low side.
The scheme that the present invention solves further technical problem is: the location access point adopts two radio communication passages, and the reception of a responsible label signal is finished the signal emission, supported two kinds of patterns of TOA and TDOA simultaneously for one.It is that core is carried out hardware designs that system adopts FPGA/DSP, provide a Software Radio platform flexibly, but dynamic-configuration unlike signal Processing Algorithm is to adapt to different application models.
The scheme that the present invention solves further technical problem is: at gate inhibition's real-time positioning system application scenarios, in order to realize unmanned automatically accurate turnover statistics of intervening, utilize simple R SSI station-keeping mode and antenna to realize that virtual gate inhibition locatees access point with left-right orientation.
The scheme that the present invention solves further technical problem is: the RSSI value adopts CC2520 directly to obtain by the access chip internal register, realizes the processing of real-time locating wireless signal.
The scheme that the present invention solves further technical problem is: in the processing of the real-time locating wireless signal of TOA/TDOA, realize the design of TOA/TDOA signal air interface, PN chip lengths 1024, distance measuring signal comprises two groups of PN sign indicating numbers that repeat, spreading rate 4M, access point receives two signals that bandwidth is 8M that two intermediate frequencies are 6M, 16M, and sampling rate is 65.0000MHz (error is 5PPM), avoids having the multiple relation with the spreading rate of 4M.The aerial data of signal are two continuous PN sequences, 2048 Code Chip altogether, and speed is 4M, the aerial duration is 0.5ms.Need realize on access point that promptly but the signal of two same chip different carrier frequencies reaches Time Calculation.
The scheme that the present invention solves further technical problem is: TOA/TDOA signal measuring and calculating algorithm design, and whether first step signal arrives judgement, and second step was sought chip (CODE) phase place, and the 3rd step was sought phase place in the Chip.Only according to sample frequency (65M), can only obtain other certainty of measurement of uS level, when sample rate being done 1/100 differentiation, certainty of measurement can reach the effect of 6.5G Direct Sampling again, and measure error is 3 ns, promptly can reach 1 meter range error.
The scheme that the present invention solves further technical problem is: hardware is realized the distance measuring signal parser on Cyclone III FPGA.
The scheme that the present invention solves further technical problem is: the algorithm that merges classical solution TDOA/TOA orientation problem is realized, connect and support a large amount of positioning label position calculation simultaneously in order to be used in large-scale location access point, design TOA/TDOA algorithm and emulation that precision is progressively approached.
The scheme that the present invention solves further technical problem is: location algorithm comprises three kinds of mode of operations, TOA mode of operation, the distance measurement mode of promptly calling the roll, TDOA mode of operation and RSSI mode of operation.
The scheme that the present invention solves further technical problem is: the TOA mode of operation, because label adopts the method for work of emission distance measuring signal, therefore must adopt so-called " roll-call " station-keeping mode, promptly measure tag distances according to authority respectively by each location access point, according to distance, calculate final label position, be applicable to not too ELECTRON OF MOTION label.
The scheme that the present invention solves further technical problem is: the TDOA mode of operation, and label initiatively transmits, but launches synchronizing signal according to the scene configuration needs between the read head, and the label signal measurement time of advent is then unified to be as the criterion with synchronizing signal.
The scheme that the present invention solves further technical problem is: the RSSI mode of operation, label initiatively transmits, and need not between the read head synchronously, needs only direct measure R SSI and is converted to distance.
Positive progressive effect of the present invention is: the real-time location method of a kind of TDOA of support provided by the invention, TOA and three kinds of patterns of RSSI has the following advantages: the present invention is in order to satisfy location requirement complicated in the logistics progress, realize supporting the real-time location method of TOA, TDOA and three kinds of main station-keeping modes of RSSI, have low-power consumption, be suitable for gate inhibition, line and plane positioning advantages of application.
Description of drawings
The multimodal real-time positioning system composition diagram of Fig. 1 support of the present invention;
The multimodal real-time localized electron label hardware designs block diagram of Fig. 2 support of the present invention;
Fig. 3 location of the present invention access point hardware designs block diagram;
Fig. 4 virtual gate inhibition of the present invention locatees the access point antenna directional diagram;
Fig. 5 location Calculation mode of operation of the present invention schematic diagram.
Embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail.
The real-time location that possesses TOA, TDOA and three kinds of station-keeping modes of RSSI based on 24730 agreements of the present invention utilizes advanced electronic communication, computer and network technology, and the system scheme of target localization tracking is provided for modern logistics.The present invention is based on the ISO24730 consensus standard, three kinds of station-keeping modes of TOA, TDOA and RSSI in design are to adapt to the location requirement in the complicated modern logistics process.
For making purpose of the present invention, technical scheme and advantage more clear, below by concrete embodiment and referring to accompanying drawing, the present invention is described in detail.
Fig. 1 is the multimodal real-time positioning system composition diagram of support of the present invention, real-time positioning system kernel software, hardware system and radiofrequency signal are handled, location algorithm, the analysis of real-time positioning system error model realizes that area of computer aided generates the real-time positioning system deployment scheme, in real time location simulation software.
Fig. 2 is the multimodal real-time localized electron label hardware designs block diagram of support of the present invention, adopts an embedded type low-power consumption microcontroller to cooperate two cover wireless transceiver systems to form in real time on the localized electron label design.RSSI locatees in real time to realize going up and adopts the left side first cover wireless transceiver system, adopts the CC2520 integrated wireless transceiver design of the TI company that meets IEEE 802.15.4 standard.This cover R-T unit is mainly finished RSSI data acquisition and the RFID transfer of data and the node networking function of radiofrequency signal.
TOA adopts the right second cover wireless transceiver system to realize, adopt the MAX28312.4G radio frequency receiving and transmitting front end of two Maxim companies, utilize the transmitting-receiving of the base-band analog signal of two systems to intersect, and by give two different operating frequencies of transceiving chip configuration for control, realized signal " alien frequencies is transmitted reflection ", the time of advent and the main signal that realize alien frequencies forwarding reflected signal at the location access point are poor the time of advent, have realized the time measuring and calculating of signal.
TDOA mode of operation, electronics are initiatively launched (reflecting operating mode under difference and the TOA pattern), carry DSSS (straight sequence spread spectrum) signal of PN sign indicating number, utilize the time difference of synchronizing signal and label signal, realize arriving time difference calculating.
Fig. 3 location of the present invention access point hardware designs block diagram, two radio communication passages of the same employing of location access point, the reception of a responsible label signal is finished the signal emission, is supported two kinds of patterns of TOA and TDOA simultaneously for one.Adopting FPGA/DSP is that core is carried out hardware designs, provide a Software Radio platform flexibly, but dynamic-configuration unlike signal Processing Algorithm is to adapt to different application models.
Adopt Cyclone3 FPGA as the core signal implementation platform, radio-frequency front-end is the MAXI2701 receiving chip, and the AD9214 of the ADI company of cooperation 65M is directly connected in the middle of the fpga chip as the AD front end.The same MAX2830 chip that adopts is as the emission of radio frequency signals front end.
Fig. 4 virtual gate inhibition of the present invention locatees the access point antenna directional diagram, and in many application scenarioss of real-time positioning system, it is the indispensable requirements of many personnel location systems that the gate inhibition passes in and out statistics, also is the indispensable requirement of asset management protection.In order to realize unmanned automatically accurate turnover statistics of intervening, this problem is utilized simple R SSI station-keeping mode, utilizes the antenna that simply has left-right orientation to realize that virtual gate inhibition locatees access point, realizes high cost performance.
Fig. 5 location Calculation mode of operation of the present invention schematic diagram.
The TOA mode of operation, the distance measurement mode of promptly calling the roll, because label adopts the method for work of emission distance measuring signal, therefore must adopt so-called " roll-call " station-keeping mode, promptly measure tag distances according to authority respectively by each location access point, according to distance, calculate final label position, be applicable to not too ELECTRON OF MOTION label.
The TDOA mode of operation, label initiatively transmits, but launches synchronizing signal according to the scene configuration needs between the read head, and the label signal measurement time of advent is then unified to be as the criterion with synchronizing signal.
The RSSI mode of operation, label initiatively transmits, and need not between the read head synchronously, needs only direct measure R SSI and is converted to distance.
Of the present invention based on the ISO24730 consensus standard, three kinds of station-keeping modes of TOA, TDOA and RSSI in design are to adapt to gate inhibition, linearity and the plane positioning demand in the complicated modern logistics process.Real-time location hardware of the present invention, software have constituted a complete logistics field and have located solution in real time, its location algorithm can adapt to the various occasions of indoor and outdoor, and positioning accuracy meets application requirements, about orientation range 300, precision is about 1 meter, and gate inhibition's correct judgment rate is greater than 99 percent.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications; these changes and improvements all fall in the claimed scope of the invention, and the claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (11)
1. real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI, it is characterized in that: this method comprises the steps:
(1). positioning label and location access point are provided;
(2). realize the real time location tracking of target by real-time positioning embedded software and signal processing algorithm;
(3). finish virtual gate inhibition, linearity, plane positioning algorithm and location simulation software.
2. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 1, it is characterized in that: described positioning label and location access point adopt microwave frequency band.
3. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 1, it is characterized in that: described TOA mode of operation, because label adopts the method for work of emission distance measuring signal, therefore must adopt so-called " roll-call " station-keeping mode, promptly measure tag distances according to authority respectively by each location access point, according to distance, calculate final label position; The TDOA mode of operation, label initiatively transmits, but launches synchronizing signal according to the scene configuration needs between the read head, and the label signal measurement time of advent is then unified to be as the criterion with synchronizing signal; The RSSI mode of operation, label initiatively transmits, and need not between the read head synchronously, needs only direct measure R SSI and is converted to distance.
4. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 1, it is characterized in that: described positioning label adopts an embedded type low-power consumption microcontroller to cooperate two cover wireless transceiver systems to form in design, and described positioning label is supported three kinds of station-keeping modes: TDOA pattern, TOA pattern and RSSI pattern.
5. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 3, it is characterized in that: described TDOA pattern adopts fixed interval regularly to launch; The TOA pattern adopts answer-mode, realizes the TOA Time Calculation according to the answer signal return time.
6. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 1, it is characterized in that: described positioning label hardware is realized going up and is adopted the 2.4G with extensive choice to receive and dispatch baseband chip.
7. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 1, it is characterized in that: described location access point adopts two radio communication passages, the reception of a responsible label signal, finish the signal emission for one, support two kinds of patterns of TOA and TDOA simultaneously, it is that core is carried out hardware designs that system adopts FPGA/DSP, and a Software Radio platform flexibly is provided, and adapts to different application models by dynamic-configuration unlike signal Processing Algorithm.
8. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 1, it is characterized in that: at gate inhibition's real-time positioning system application scenarios, in order to realize unmanned automatically accurate turnover statistics of intervening, utilize simple R SSI station-keeping mode and antenna to realize that virtual gate inhibition locatees access point with left-right orientation.
9. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 1, it is characterized in that: the RSSI station-keeping mode adopts CC2520 directly to obtain by the access chip internal register, realizes the processing of real-time locating wireless signal.
10. according to the described support of claim 1 TDOA, the real-time location method of TOA and three kinds of patterns of RSSI, it is characterized in that: in the processing of the real-time locating wireless signal of TOA/TDOA, realize the design of TOA/TDOA signal air interface, PN chip lengths 1024, distance measuring signal comprises two groups of PN sign indicating numbers that repeat, spreading rate 4M, it is 6M that access point receives two intermediate frequencies, two signals that bandwidth is 8M of 16M, sampling rate is 65.0000MHz, avoid having the multiple relation with the spreading rate of 4M, the aerial data of signal are two continuous PN sequences, 2048 Code Chip altogether, speed is 4M, and the aerial duration is 0.5ms.
11. according to the described real-time location method of supporting TDOA, TOA and three kinds of patterns of RSSI of claim 1, it is characterized in that: location algorithm comprises three kinds of mode of operations, TOA mode of operation, the distance measurement mode of promptly calling the roll, TDOA mode of operation and RSSI mode of operation.
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| CN102857250A (en) * | 2011-06-28 | 2013-01-02 | Ls产电株式会社 | Synchronization acquisition method of real time locating system |
| CN107852568A (en) * | 2015-07-13 | 2018-03-27 | 乌贝库米有限公司 | System and method for positioning and tracking |
| CN108228428A (en) * | 2018-02-05 | 2018-06-29 | 百度在线网络技术（北京）有限公司 | For the method and apparatus of output information |
| CN110636607A (en) * | 2019-09-29 | 2019-12-31 | 新华三信息安全技术有限公司 | Positioning method, positioning device, electronic equipment and storage medium |
| CN113573268A (en) * | 2017-03-16 | 2021-10-29 | 兰普洛克斯公司 | System and method for indoor positioning by using wireless positioning node |
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Application publication date: 20110601 |