CN103118428A - Ultra-wideband positioning TOA (time of arrival) estimation method and circuit assembly - Google Patents
Ultra-wideband positioning TOA (time of arrival) estimation method and circuit assembly Download PDFInfo
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- CN103118428A CN103118428A CN2013100653624A CN201310065362A CN103118428A CN 103118428 A CN103118428 A CN 103118428A CN 2013100653624 A CN2013100653624 A CN 2013100653624A CN 201310065362 A CN201310065362 A CN 201310065362A CN 103118428 A CN103118428 A CN 103118428A
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Abstract
The invention discloses an ultra-wideband positioning TOA (time of arrival) estimation method which includes the steps: A, triggering received pulse ultra-wideband signals to generate rectangular pulse signals after energy integration; B, generating RC (resistance-capacitance) charge-discharge waveform signals from the rectangular pulse signals by an RC integral circuit; C, digitalizing the outputted RC charge-discharge waveform signals by an A/D (analog to digital) converter; D, performing TOA coarse estimation and processing digital signals outputted by the A/D converter to obtain an estimated position of initial charge time of the RC circuit; and E, performing TOA fine estimation to obtain accurate initial charge time of the RC circuit according to the relationship between charge voltage and charge time, namely, to obtain accurate TOA estimation. The invention further relates to a circuit assembly implementing the ultra-wideband positioning TOA estimation method.
Description
Technical field
The invention belongs to the Technology of Ultra field, the head that is specifically related to a kind of ultra broadband reaches the pulse arrival time method of estimation.
Background technology
Ultra broadband (Ultrawideband is called for short UWB) technology is a kind of novel wireless communication technology that folded formula is used frequency spectrum resource that serves as a contrast, and has obtained paying close attention to widely in recent years, and its transmitted signal bandwidth can be up to several GHzs (GHz).The UWB technology generally can be divided into pulse system and two kinds of basic implementations of carrier wave system.Pulse system UWB has the advantages such as system configuration is simple, cost is low, low in energy consumption by base band pulse sequence transmission information, has purposes widely in fields such as radio communication, range finding, detections; The pulse system UWB technology can adopt the methods such as peak value detection, energy measuring, simulation coherent detection at receiving terminal, its handling property is subject to the restriction of simulation process, generally can only realize radio communication and the functions such as detection, location than low rate.
IEEE has promulgated relevant criterion for the many application scenarioss of UWB, comprise Technology in High-speed WPAN standard IEEE 802.15.3 and low-speed wireless sensor network standard IEEE 802.15.4, and the wireless body territory net (Wireless Body Area Network is called for short WBAN) that is used for the medical monitoring field.
The pulse duration of impulse radio ultra-wideband is nanoscale, can obtain in theory the positioning accuracy of Centimeter Level.In the pulse ultra-broad band navigation system, how to estimate accurately that be the key issue of positioning accuracy the time of advent (TOA) of pulse ultra-broad band (IR-UWB) signal.Pulse ultra-broad band is simple in structure and more and more be subject to researcher's attention due to it based on the incoherent reception method of energy measuring.The basic principle of traditional noncoherent receiver based on energy measuring is to receive signal first through filter and amplification, then simulate square-law-integration device and carry out energy integral, carry out Base-Band Processing after last A/D sampling, by definite direct path position, thereby making TOA estimates, the estimated accuracy of TOA and the sampling rate of A/D have much relations, and the TOA estimated accuracy that obtain nanosecond need to be up to the sampling rate more than GHz, and is still very high to the requirement of A/D.
Summary of the invention
The object of the present invention is to provide and a kind of the A/D sampling rate is required low ultra broadband location TOA method of estimation.
For achieving the above object, the present invention is achieved in that a kind of ultra broadband location TOA method of estimation based on incoherent energy measuring, comprises the steps:
Steps A, the impulse ultra-wideband signal that receives trigger after energy integral and generate rectangular pulse signal;
Step B, rectangular pulse signal generates RC Charge-discharge wave shape signal through the RC integrating circuit;
Step C, A/D converter carries out digitlization and sends into digital signal processor the RC Charge-discharge wave shape signal of output;
Step D carries out the TOA rough estimate, and digital signal processor is processed the digitized signal of A/D converter output, obtains the RC circuit estimated position of initiation of charge time;
Step e is carried out TOA and is carefully estimated, according to the accurate RC circuit charging of the relation acquisition zero-time in charging voltage and charging interval, this time is accurate TOA and estimates.
Concrete, described steps A is:
Set the comparator threshold value, this threshold value should be able to obtain performance preferably on wider signal to noise ratio scope, thereby guarantees to extract the accuracy of direct pulse positional information;
Under the thresholding of setting, the signal of energy integral output obtains the rectangular pulse signal of wider width through comparator and pulse extension circuit, the rising edge position of this rectangular pulse signal has kept the positional information that the direct pulse signal arrives, thereby can estimate by extracting rectangular pulse signal rising edge positional information the position that the direct pulse signal arrives;
Concrete, described step B is:
When arriving, the rising edge of rectangular pulse signal begins the electric capacity of RC integrating circuit is charged, electric capacity complete charge and begin discharge when the trailing edge of rectangular pulse signal arrives, output RC Charge-discharge wave shape signal, the initiation of charge zero-time of RC circuit has kept the rising edge positional information of rectangular pulse signal, thereby can estimate the position of direct pulse signal arrival by the initiation of charge time of estimating the RC circuit;
Step C is: RC Charge-discharge wave shape signal is converted into digital waveform signal through the A/D converter sampling;
Concrete, described step D is:
Digital waveform signal comprises data that the start position information of RC circuit charging obtains sampling to be processed and obtains the RC circuit estimated position of initiation of charge time from the position that null value is changed to nonzero value, and the accuracy of this estimated position depends on the sampling rate of A/D converter;
Concrete, described step e is:
According to the relation in charging voltage and charging interval, by the accurate RC circuit charging of the magnitude of voltage acquisition zero-time of RC circuit initiation of charge time Estimate position, the TOA that this time is accurate direct pulse signal estimates.
the object of the present invention is to provide the TOA method of estimation of a kind of ultra broadband location, existing incoherent reception method based on energy measuring is improved, added head to reach pulse position information extraction circuit before the AD sampling, head reaches pulse position information extraction circuit and comprises thresholding relatively and pulse extension circuit, thereby the pulse signal that energy integral obtains is converted into the rectangular pulse signal that keeps direct pulse signal in-position information, rectangular pulse signal generates the relatively more slow RC Charge-discharge wave shape signal of rising edge through the RC integrating circuit, the A/D converter that adopts low sampling rate is to its digital-to-analogue conversion and process and obtain the RC circuit estimated position of initiation of charge time, relation according to charging interval and charging interval, thereby the sampled value by the place, estimated position obtains accurate TOA estimation, thereby the A/D that makes low sampling rate can be used in ultra-wideband positioning system and realizes that accurate TOA estimates.
Another technical problem that the present invention will solve is that a kind of circuit assembly of realizing the TOA method of estimation that ultra broadband is located is provided.
for solving the problems of the technologies described above, the technical solution used in the present invention is: this circuit assembly comprises the energy measuring circuit that is linked in sequence, A/D converter and digital signal processor, also be provided with head and reach pulse position information extraction circuit and RC integrating circuit between energy measuring circuit and A/D converter, described head reaches pulse position information extraction circuit and comprises comparator and pulse extension circuit, after the energy measuring circuit receives impulse ultra-wideband signal, order obtains the rectangular pulse signal of wider width through comparator and pulse extension circuit, this rectangular pulse signal is exported RC Charge-discharge wave shape signal to A/D converter after the RC integrating circuit.
Further, also be provided with sampling hold circuit between described RC integrating circuit and A/D converter.
Description of drawings
Fig. 1 receiver block diagram;
The schematic diagram of Fig. 2 RC integrating circuit;
The schematic diagram that Fig. 3 signal is processed;
Fig. 4 is the circuit assembly figure that realizes the TOA method of estimation of ultra broadband location;
Fig. 5 is the circuit assembly figure that is added with in Fig. 4 after sampling hold circuit.
Embodiment
Embodiment:
Fig. 1 is the flow chart (receiver block diagram) of the TOA method of estimation of ultra broadband location, below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated:
In the ultra wideband impulse radio system, to implement ultra broadband location TOA method of estimation based on incoherent energy measuring in conjunction with the pulse ultra-broad band of OOK modulation as example.
Transmit and can be expressed as:
The pulse train that S (t) is comprised of monocycle impulse p (t), j is exomonental number.
T s Be the pulse repetition period.
Channel adopts the CM1 channel of IEEE 802.15.4a channel.
Reception signal indication by channel is:
H (t)Be channel impulse response,
N (t)Be additive noise.
The signal of energy measuring output is as shown in Fig. 3 3.1, and the signal energy piece of energy measuring output can be expressed as:
Wherein
T b The cycle of expression integration,
nRepresent the energy block in each frame,
T s Be the pulse repetition period.
Signal after thresholding relatively reaches the pulse extension is rectangular pulse signal as shown in Fig. 3 3.2
Rect (t)
Shown in Figure 2 is RC integrating circuit schematic diagram, rectangular pulse signal
Rect (t)Output RC Charge-discharge wave shape signal after the RC integrating circuit
Rc (t), as shown in Fig. 3 3.3.Electric capacity begins charging from no-voltage,
Rect (t)Rising edge begin when arriving charging and
Rect (t)Trailing edge begin discharge when arriving, capacitance voltage can be expressed as:
Wherein
V Rect Be rectangular pulse signal
Rect (t)Voltage,
τTime constant for the RC integrating circuit.
After sampling hold circuit shown in Figure 2, A/D is to RC Charge-discharge wave shape signal
Rc (t)Carry out digital-to-analogue conversion, the data after digital-to-analogue conversion are used
Rc (n)Expression,
Rc (n)For
Rc (t)With sampling rate
fsThe sequence that obtains after sampling, in Fig. 3,3.4 are depicted as
Rc (n)
Complete the TOA rough estimate, use
Rc (n)Extract charging zero-time positional information
Pos (n),But the first rough estimate time of advent that reaches pulse is counted:
（5）
Complete TOA and carefully estimate, according to the relation in charging voltage and charging interval,
Pos (n)The magnitude of voltage of position sampling is
Rc (pos (n)), according to formula (4), can calculate the charging interval
t Charge For:
Can carefully be estimated as the first time of advent that reaches pulse:
（7）
Table one is based on the TOA method of estimation simulation parameter of incoherent energy measuring
Simulation result under the CM1 channel circumstance of table two IEEE 802.15.4a
The A/D sampling rate that emulation is used
fsBe 100MHz, the temporal resolution that is system was 10 nanoseconds, the systematic error of introducing is very large, after the circuit of introducing the RC integration, utilize the relation in charging voltage and charging interval to revise the result of rough estimate, from rough estimate and thin estimate to recently, the method makes TOA estimate that accuracy has had large increase, also makes to be used for ultra-wideband positioning system than low rate A/D device and to become possibility.
be the TOA method of estimation that realizes that the above-mentioned ultra broadband of the present embodiment is located, as shown in Figure 4, the circuit assembly that adopts comprises the energy measuring circuit that is linked in sequence, A/D converter and digital signal processor, also be provided with head and reach pulse position information extraction circuit and RC integrating circuit between energy measuring circuit and A/D converter, described head reaches pulse position information extraction circuit and comprises comparator and pulse extension circuit, after the energy measuring circuit receives impulse ultra-wideband signal, order obtains the rectangular pulse signal of wider width through comparator and pulse extension circuit, this rectangular pulse signal is exported RC Charge-discharge wave shape signal to A/D converter after the RC integrating circuit.
As shown in Figure 5, also be provided with sampling hold circuit between RC integrating circuit and A/D converter.
Claims (7)
1. the TOA method of estimation that ultra broadband is located, comprise the steps:
Steps A, the impulse ultra-wideband signal that receives trigger after energy integral and generate rectangular pulse signal;
Step B, rectangular pulse signal generates RC Charge-discharge wave shape signal through the RC integrating circuit;
Step C, A/D converter carries out digitlization and sends into digital signal processor the RC Charge-discharge wave shape signal of output;
Step D carries out the TOA rough estimate, and digital signal processor is processed the digitized signal of A/D converter output, obtains the RC circuit estimated position of initiation of charge time;
Step e is carried out TOA and is carefully estimated, according to the accurate RC circuit charging of the relation acquisition zero-time in charging voltage and charging interval, this time is accurate TOA and estimates.
2. the TOA method of estimation of ultra broadband according to claim 1 location, it is characterized in that, described steps A is specially: set the comparator threshold value, this threshold value should be able to obtain performance preferably on wider signal to noise ratio scope, thereby guarantees to extract the accuracy of direct pulse positional information;
Under the thresholding of setting, the signal of energy integral output obtains the rectangular pulse signal of wider width through comparator and pulse extension circuit.
3. the TOA method of estimation of ultra broadband according to claim 1 and 2 location, it is characterized in that, described step B is specially: begin the electric capacity of RC integrating circuit is charged when the rising edge of rectangular pulse signal arrives, electric capacity complete charge and begin discharge when the trailing edge of rectangular pulse signal arrives, output RC Charge-discharge wave shape signal, the initiation of charge time of RC circuit has kept the rising edge positional information of rectangular pulse signal, thereby can estimate the position of direct pulse signal arrival by the initiation of charge time of estimating the RC circuit.
4. the TOA method of estimation of ultra broadband according to claim 3 location, it is characterized in that, described step D is specially: digital waveform signal comprises the start position information of RC circuit charging from the position that null value is changed to nonzero value, and the data that sampling is obtained are processed and obtained the RC circuit estimated position of initiation of charge time
,The accuracy of this estimated position depends on the sampling rate of A/D converter.
5. the TOA method of estimation of ultra broadband according to claim 4 location, it is characterized in that, described step e is specially: according to the relation in charging voltage and charging interval, by the accurate RC circuit charging of the magnitude of voltage acquisition zero-time of RC circuit initiation of charge time Estimate position, the TOA that this time is accurate direct pulse signal estimates.
6. circuit assembly of realizing the TOA method of estimation of the described ultra broadband of claim 1 ~ 5 any one location, this circuit assembly comprises the energy measuring circuit that is linked in sequence, A/D converter and digital signal processor, it is characterized in that, also be provided with head and reach pulse position information extraction circuit and RC integrating circuit between energy measuring circuit and A/D converter, described head reaches pulse position information extraction circuit and comprises comparator and pulse extension circuit, after the energy measuring circuit receives impulse ultra-wideband signal, order obtains the rectangular pulse signal of wider width through comparator and pulse extension circuit, this rectangular pulse signal is exported RC Charge-discharge wave shape signal to A/D converter after the RC integrating circuit.
7. circuit assembly according to claim 6, is characterized in that, also is provided with sampling hold circuit between described RC integrating circuit and A/D converter.
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| CN103929216A (en) * | 2014-04-30 | 2014-07-16 | 郑州联睿电子科技有限公司 | Communication device based on carrier-free pulse ultra-wide-band active positioning tag |
| CN105916200A (en) * | 2016-05-31 | 2016-08-31 | 山东大学 | Ultra-wideband wireless positioning method and device based on compressed sampling |
| CN107561918A (en) * | 2017-08-29 | 2018-01-09 | 广州中海达定位技术有限公司 | TOA methods of estimation and device are positioned based on FPGA ultra wide bands |
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| CN105916200B (en) * | 2016-05-31 | 2019-03-29 | 山东大学 | A kind of ultra-wideband wireless positioning method and positioning device based on compression sampling |
| CN107561918A (en) * | 2017-08-29 | 2018-01-09 | 广州中海达定位技术有限公司 | TOA methods of estimation and device are positioned based on FPGA ultra wide bands |
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Effective date of registration: 20190806 Address after: 450008 No. 24, No. 1 Building, 12 Zhengqi Street, Jinshui District, Zhengzhou City, Henan Province Patentee after: Li Ji Address before: Room 711, Beichuang Science Park, 401 Xingyuan North Road, Wuxi City, Jiangsu Province Patentee before: Wuxi Ubicom Technology Co., Ltd. |
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