CN102932739B - Non line-of-sight propagation state identification and data reconfiguration method of ultra-wide bandwidth wireless positioning - Google Patents
Non line-of-sight propagation state identification and data reconfiguration method of ultra-wide bandwidth wireless positioning Download PDFInfo
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Abstract
The invention relates to a non line-of-sight propagation state identification and data reconfiguration method of ultra-wide bandwidth wireless positioning. According to the non line-of-sight propagation state identification and data reconfiguration method of the ultra-wide bandwidth wireless positioning, a vehicle-mounted wireless receiving base station receives wireless radio waves emitted by a mobile node label worn by a target pedestrian, and obtains information of the distance between the target pedestrian and an automatic guide vehicle; a vehicle-mounted computer visual system achieves identification of the state of the environment on a wireless radio wave broadcasting path to estimate non line-of-sight propagation errors and complete accurate extraction of information of the distance between the target pedestrian and the vehicle-mounted wireless receiving base station; and a low-power single chip microcomputer MSP430 obtains the information of the distance between the target pedestrian and the automatic guide vehicle according to a wireless locating model based on time difference of arrival (TDOA), and is sends the information of the distance to an motion control system of the automatic guide vehicle so that the automatic guide vehicle is enabled to follow motions of the target pedestrian at any time. The non line-of-sight propagation state identification and data reconfiguration method of the ultra-wide bandwidth wireless positioning can initiatively identify the state of the environment on the wireless radio wave broadcasting path and achieve real-time location and track control of the target pedestrian through the wireless locating model.
Description
Technical field
The invention belongs to computer engineering field, the non-line-of-sight propagation state being specifically related to a kind of super wideband wireless location is differentiated and data reconstruction method.
Background technology
In the operational environments such as kindergarten, golf course, airport, battlefield, hospital, Logistic Base, need autonomous guide vehicle to follow the application of target pedestrian more and more, realize target pedestrian follows task in real time.Born a heavy burden by autonomous guide vehicle or load the application such as goods and materials, autonomous guide vehicle greatly can alleviate or substitute completely needs the artificial burdensome task such as WatchChild, golf-ball-bag vehicle, airdrome luggage carrying, battlefield supply transportation, hospital patient nurse, logistics transportation participated in.Therefore, being accurately positioned at numerous civil and military occasion in real time and showing huge development potentiality and application demand of target pedestrian.Current, the guiding of moving target mainly adopts electromagnetism guiding, visual guidance and las er-guidance etc.Electromagnetism guiding needs to lay road sign in advance, and walking path is fixed, path changing difficulty, and be difficult to process crossedpath, cost is higher, and positioning precision is lower; Visual guidance can change path easily, low cost of manufacture, and positioning precision is higher, but still needs default road sign, and walking path is fixed, crossedpath difficult treatment, and under being only applicable to visual condition; Las er-guidance mode is without the need to path setting, but still existence need preset road sign, the shortcomings such as manufacturing cost is higher.Super wideband wireless location technology have path fashion freely, crossedpath process easily, the advantage such as path changing has nothing to do with environment, grade hi-Fix, can effectively overcome obstacles the shortcomings such as thing blocks, positioning precision is low.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of non-line-of-sight propagation state based on super wideband wireless location to differentiate and data reconstruction method, the method can not only realize the ambient condition identification on super wideband wireless wave path, and after on radio-ray path, barrier effectively identifies, can eliminate due to the measure error that barrier on radio wave propagation path is introduced in super wideband wireless location, thus the accurate location of realize target pedestrian.
The present invention adopts low-power scm MSP430 to locate the primary processor with the model-following control of autonomous guide vehicle in real time as the target pedestrian located based on super wideband wireless.Low-power scm MSP430 treatment system comprises microprocessor module, power module, wireless locating module, motion-control module and the computer vision fast processing module based on programmable logic device.Concrete methods of realizing is:
(1) by low-power scm MSP430 system initialization, system register initialization, initialization of variable, onboard wireless reception Base station initialization is comprised.
(2) target pedestrian opens the mobile node label worn with it, and this label commences work without delay, and launches radio wave.
(3) car-mounted computer vision system is by image procossing, feature extraction and Stereo matching etc., realize the state recognition of environment on radio-ray path, obtain the attribute of major obstacle thing, thus estimate non-line-of-sight propagation error, complete accurate target pedestrian and onboard wireless and receive range information extraction between base station.
(4) low-power scm MSP430 is according to the wireless location model based on TDOA, accurately can obtain the range information between target pedestrian and autonomous guide vehicle.This range information is sent to the kinetic control system of automatic guided vehicle, the action that automatic guided vehicle follows target pedestrian in real time can be realized.
(5) repeat step (2), (3) and (4), the non-line-of-sight propagation state completed based on super wideband wireless location is differentiated and data reconstruction, and realize target pedestrian follows in real time.
The method that the present invention is based on signal arrival time difference (Time Difference of Arrival, TDOA) comes realize target pedestrian and the range information independently between guide vehicle.The method of signal arrival time difference can the effective range error introduced through identical reflector of offseting signal.In order to the three-dimensional coordinate of realize target pedestrian is located, present invention employs four onboard wireless and receive base station, be arranged on autonomous guide vehicle.The mobile node label that target pedestrian wears, fixed time intervals receives base station to four onboard wireless and sends framing signal, receive non-line-of-sight propagation state and data reconstruction that radio-ray path is passed through in base station, by wireless location model solution, the three-dimensional localization coordinate of target pedestrian can be obtained in real time.In the present invention, onboard wireless receives base station and all only has receiving function, efficiently avoid and launches interference each other.Target is trusted the mobile node label worn and is only transmitting node, starts working when target pedestrian needs autonomous guide vehicle to serve.
The present invention passes through computer vision technique, carry out the information in identification super wideband wireless wave path pressed on ring border, whether there is barrier or there is no barrier, thus the radio propagation time that remove obstacles brings calculates the position error brought, solve traditional residual error based on transmitting signal and be weighted the positional uncertainty and low precision defect estimating to bring.
Instant invention overcomes the shortcoming that traditional position location techniques needs fixed route, can ambient condition on initiative recognition radio-ray path, controlled by the real-time localization and tracking of wireless location model realization target pedestrian.Whole system is simple, reasonable in design, realizes cost low, practical, is easy to realize under various application occasions, the pedestrian tracking of the operational environments such as such as kindergarten, golf course, airport, battlefield, hospital, Logistic Base.
Embodiment
The non-line-of-sight propagation state recognition of locating based on super wideband wireless and data reconstruction system adopt low-power scm MSP430 as intelligent controller, the mobile node label adopting four onboard wireless reception base stations and target pedestrian to wear, can obtain the distance between autonomous guide vehicle and target pedestrian in real time.When ultra-broadband radio wave trajectory exists barrier, completed the identification of barrier by the computer vision fast processing algorithm realized based on programmable logic device.Concrete methods of realizing is:
(1) by low-power scm MSP430 system initialization, system register initialization, initialization of variable, onboard wireless reception Base station initialization is comprised.
Low-power scm MSP430 is as the master controller of autonomous guide vehicle, receive base station with four onboard wireless to communicate, real time record four onboard wireless receive the moment that radio wave is caught in base station, thus calculate time of arrival (toa) (the Time of Arrival that four onboard wireless receive the radio wave transmissions between base station and target pedestrian, TOA), the distance between four onboard wireless reception base stations and target pedestrian can be obtained.According to wireless location model, low-power scm MSP430 can derive the range information between autonomous guide vehicle and target pedestrian, as the input control signal of autonomous guide vehicle motion control, realizes the real-time model-following control of autonomous guide vehicle.Therefore, in the starting stage of system cloud gray model, initialization must be carried out to parameters such as the register needed for system cloud gray model, range information base stations, ensure the correct detection of multiple sensor data.
(2) target pedestrian opens the mobile node label worn with it, and this label commences work without delay, and launches radio wave.
When target pedestrian needs autonomous guide vehicle to carry out following action, directly open the mains switch of the mobile node label worn with it, label is started working, and automatically outwards launches radio wave.When onboard wireless reception base station receives this radio wave, the range information between target pedestrian and autonomous guide vehicle can be obtained.When target pedestrian does not need autonomous guide vehicle to carry out following action, directly close the mains switch of mobile node label, autonomous guide vehicle is by automatic stop motion.
(3) car-mounted computer vision system is by image procossing, feature extraction and Stereo matching etc., realize the state recognition of environment on radio-ray path, obtain the attribute of major obstacle thing, thus estimate non-line-of-sight propagation error, complete accurate target pedestrian and onboard wireless and receive range information extraction between base station.
Line-of-sight propagation is the necessary condition obtaining signal characteristic measured value accurately.TOA measured value between setting mobile node label and the onboard wireless reception base station and distance are respectively
, mobile node label and and
tDOA between individual onboard wireless reception base station and range difference are respectively
,
,
for velocity of radio wave, then
with
can be expressed as:
，
（1）
Wherein,
obeying average is 0, and variance is
gaussian Profile;
obeying average is 0, and variance is
gaussian Profile;
for mobile node label and
individual onboard wireless receives the line-of-sight propagation sighting distance between base station.
But in actual location applied environment, if the line-of-sight propagation path that onboard wireless receives radio wave propagation between base station and mobile node label is stopped by building or bushes, radio wave signal has penetrated one or more barrier (people or wall etc.) in propagation way.Adding of barrier causes additional delay, and TOA/TDOA estimated result exists a positive additional excessive delay, is the main source of range error, as shown in the formula expression:
，
（2）
Wherein,
with
represent because barrier exists respectively, the Mean Excess time delay that the non-line-of-sight propagation of radio wave causes and delay inequality.By this, there is the location estimation being applied to mobile node label or target pedestrian compared with the non-gaussian TOA of big error or TDOA measured value, the performance of location algorithm must be caused significantly to decline, the maximal possibility estimation of mobile node label position cannot be obtained, make position location occur relatively large deviation.
In non-line-of-sight propagation situation, the signal propagation path that the direct path of radio wave is corresponding gets involved barrier, penetrated barrier and arrive onboard wireless if radio wave signal has enough energy and receive base station, the propagation time
for:
（3）
Wherein,
the quantity of barrier,
it is barrier
thickness,
it is barrier
dielectric constant.Barrier to the additional time delay that first footpath signal is introduced is:
（4）
Due to
,
perseverance is just.Like this, the range error that in non-line-of-sight propagation situation, barrier causes also permanent on the occasion of.
But, in reality range finding environment, the barrier quantity on very difficult acquisition radio wave signal propagation path and electromagnetic parameter etc.The accurate estimation realizing non-line-of-sight propagation error is very unactual, but the major obstacle thing (as people, body of wall, bushes etc.) of range finding environment can be picked out, and estimation is made to the average electromagnetic parameter of major obstacle thing, barrier equivalent thickness then gets empirical value, and then estimates the non-market value of barrier introducing.
The present invention proposes to adopt Binocular Stereo Vision System, provides effective understanding and the identification of autonomous guide vehicle surrounding environment.Completed the identification of the barrier such as pedestrian, vehicle, wall on autonomous guide vehicle active target tracking direction by image procossing, feature extraction and Stereo matching and morphology, and then complete the estimation of non-line-of-sight propagation error, realize line-of-sight propagation data reconstruction.
(4) low-power scm MSP430 is according to the wireless location model based on TDOA, accurately can obtain the range information between target pedestrian and autonomous guide vehicle.This range information is sent to the kinetic control system of automatic guided vehicle, the action that automatic guided vehicle follows target pedestrian in real time can be realized.
Calculate the range information between target pedestrian and autonomous guide vehicle, common method is according to transmission time parameters such as TOA, TDOA, utilizes geometrical relationship to calculate circle or hyp crosspoint, thus determines position coordinates.Because TDOA method only needs the time difference knowing signal propagation time, do not seek knowledge actual propagation time of signal, reduce time synchronized requirement, and can the effective range error introduced through identical reflector of offseting signal by TOA being converted into TDOA.So under normal conditions, positioning precision is higher than TOA technology.This localization method based on distance at least needs four datum nodes to realize the three-dimensional coordinate location of a unknown node.
Wireless location Mathematical Modeling is set up with three-dimensional coordinate location.The coordinate setting four reference nodes is respectively (
,
,
),
, the coordinate of mobile node label is
, then can obtain range difference:
，
（5）
Be equivalent to
，
（6）
Geometrically, Nonlinear System of Equations (6) shows as one group of hyperbola.By solving equation group (6), the coordinate figure of mobile node label can be obtained
, be also the current position of target pedestrian.
(5) repeat step (2), (3) and (4), the non-line-of-sight propagation state completed based on super wideband wireless location is differentiated and data reconstruction, and realize target pedestrian follows in real time.
Claims (2)
1. the non-line-of-sight propagation state of super wideband wireless location is differentiated and data reconstruction method, it is characterized in that the method comprises the following steps:
Step (1), by low-power scm MSP430 system initialization, comprises system register initialization, initialization of variable, onboard wireless reception Base station initialization;
Step (2) target pedestrian opens the mobile node label worn with it, and this label commences work without delay, and launches radio wave;
Step (3) car-mounted computer vision system is by image procossing, feature extraction and Stereo matching, realize the state recognition of environment on radio-ray path, obtain the attribute of major obstacle thing, thus estimate non-line-of-sight propagation error, complete accurate target pedestrian and onboard wireless and receive range information extraction between base station; Specifically:
TOA measured value between setting mobile node label and i-th onboard wireless reception base station and distance are respectively t
i, R
i, mobile node label and i-th and a jth onboard wireless receive TDOA between base station and range difference is respectively t
ij, R
ij, c is velocity of radio wave, then t
iand t
i1be expressed as:
Wherein, n
iobeying average is 0, and variance is
gaussian Profile; n
i1obeying average is 0, and variance is
gaussian Profile;
for mobile node label and i-th onboard wireless receive the line-of-sight propagation sighting distance between base station;
If the line-of-sight propagation path that onboard wireless receives radio wave propagation between base station and mobile node label is stopped by building or bushes, radio wave signal has penetrated one or more barrier in propagation way, adding of barrier causes additional delay, there is a positive additional excessive delay in TOA/TDOA estimated result, the main source of range error, as shown in the formula expression:
Wherein, μ
iand μ
i1represent because barrier exists respectively, the Mean Excess time delay that the non-line-of-sight propagation of radio wave causes and delay inequality;
In non-line-of-sight propagation situation, the signal propagation path that the direct path of radio wave is corresponding gets involved barrier, penetrated barrier and arrive onboard wireless if radio wave signal has enough energy and receive base station, propagation time t '
ifor:
Wherein, n is the quantity of barrier, d
ithe thickness of barrier i, ε
iit is the dielectric constant of barrier i; Barrier to the additional time delay that first footpath signal is introduced is:
Due to ε
i>1, Δ t perseverance is just; Like this, the range error that in non-line-of-sight propagation situation, barrier causes also permanent on the occasion of;
Pick out the major obstacle thing of range finding environment, and make estimation to the average electromagnetic parameter of major obstacle thing, barrier equivalent thickness then gets empirical value, and then estimates the non-market value of barrier introducing;
Step (4) low-power scm MSP430, according to the wireless location model based on TDOA, accurately can obtain the range information between target pedestrian and autonomous guide vehicle; This range information is sent to the kinetic control system of automatic guided vehicle, the action that automatic guided vehicle follows target pedestrian in real time can be realized;
Step (5) repeats step (2), step (3) and step (4), and the non-line-of-sight propagation state completed based on super wideband wireless location is differentiated and data reconstruction, and realize target pedestrian follows in real time.
2. the non-line-of-sight propagation state of super wideband wireless location according to claim 1 is differentiated and data reconstruction method, it is characterized in that: described autonomous guide vehicle is installed four onboard wireless and received base station, and onboard wireless receives base station and all only has receiving function.
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| CN103427905B (en) * | 2013-08-05 | 2017-03-01 | 南京航空航天大学 | A kind of ultra-wideband radio over fiber positioning system |
| CN105828431A (en) * | 2016-04-25 | 2016-08-03 | 上海理工大学 | UWB-based autonomous following robot positioning method and system |
| CN106896355B (en) * | 2016-12-29 | 2019-07-05 | 湖北工业大学 | Barrier Material Identification and range error bearing calibration based on UWB time reversal |
| CN107295636B (en) * | 2017-07-19 | 2020-04-14 | 成都四相致新科技有限公司 | TDOA (time difference of arrival) positioning-based mobile base station positioning device, positioning equipment and method |
| CN108766005A (en) * | 2018-06-08 | 2018-11-06 | 北京洪泰同创信息技术有限公司 | The control method of the vehicles, apparatus and system |
| CN108646750B (en) * | 2018-06-08 | 2021-05-07 | 杭州电子科技大学 | Portable factory AGV following method based on UWB non-base station |
| CN112534293A (en) * | 2018-08-31 | 2021-03-19 | 罗伯特·博世有限公司 | Method and apparatus for detecting signal propagation type |
| US11558715B2 (en) | 2018-08-31 | 2023-01-17 | Robert Bosch Gmbh | Method and apparatus for detecting signal propagation type |
| CN113253766B (en) * | 2021-05-12 | 2023-04-07 | 长城汽车股份有限公司 | Automatic following method and automatic following system for loading vehicle and loading vehicle |
| CN113750498A (en) * | 2021-09-15 | 2021-12-07 | 深圳市一岭高尔夫科技有限公司 | Golf scoring system |
| US11683090B1 (en) | 2022-01-18 | 2023-06-20 | T-Mobile Usa, Inc. | Laser-based enhancement of signal propagation path for mobile communications |
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| CN101237257A (en) * | 2006-10-02 | 2008-08-06 | 赛乐得公司 | Method and system for improving client server transmission over fading channel |
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