CN103118428B - 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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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 technical field of ultra-wideband radio communication, the head being specifically related to a kind of ultra broadband reaches 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 serving as a contrast stacked use frequency spectrum resource, and obtain in recent years and pay close attention to widely, it sends signal bandwidth can up to several GHz (GHz).UWB technology generally can be divided into pulse regime and the basic implementation of carrier wave system two kinds.Pulse system UWB, by base band pulse sequence transmission information, has the advantages such as system configuration is simple, cost is low, low in energy consumption, has been widely used at field tools such as radio communication, range finding, detections; Pulse system UWB technology, can adopt the method such as peakvalue's checking, energy measuring, simulation coherent detection at receiving terminal, its handling property is subject to the restriction of simulation process, generally can only realize the radio communication compared with low rate and the function such as detection, location.
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 standards IEEE802.15.4, and for the wireless body territory net (Wireless Body Area Network, be called for short WBAN) of medical monitoring arts.
The pulse duration of impulse radio ultra-wideband is nanoscale, can obtain the positioning precision of Centimeter Level in theory.In pulse ultra-broad band navigation system, how to estimate that the time of advent (TOA) of pulse ultra-broad band (IR-UWB) signal is the key issue of positioning precision accurately.Pulse ultra-broad band simply and is more and more subject to the attention of researcher based on the incoherent reception method of energy measuring due to its structure.The general principle of traditional noncoherent receiver based on energy measuring is that Received signal strength is first through filter and amplification, then simulate square-law-integration device and carry out energy integral, Base-Band Processing is carried out after last A/D sampling, by determining direct path position, thus make TOA estimation, the estimated accuracy of TOA and the sampling rate of A/D have much relations, and the TOA estimated accuracy that obtain nanosecond needs up to sampling rate more than GHz, 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 low ultra broadband location TOA method of estimation is required to A/D sampling rate.
For achieving the above object, the present invention is achieved in that a kind of ultra broadband location TOA method of estimation detected based on incoherent energy, comprises the steps:
Steps A, the impulse ultra-wideband signal received triggers and generates rectangular pulse signal after energy integral;
Step B, rectangular pulse signal generates RC Charge-discharge wave shape signal through RC integrating circuit;
Step C, A/D converter carries out digitlization to the RC Charge-discharge wave shape signal exported and sends into digital signal processor;
Step D, carries out TOA rough estimate, and digital signal processor processes the digitized signal that A/D converter exports, and obtains the estimated position of RC circuit initiation of charge time;
Step e, carries out TOA and carefully estimates, obtain accurate RC circuit according to charging voltage and the relation in charging interval and to charge initial time, this time is accurate TOA and estimates.
Concrete, described steps A is:
Setting comparator threshold value, this threshold value should be able to obtain good performance on wider SNR ranges, thus ensures the accuracy extracting direct pulse positional information;
Under the thresholding of setting, the signal that energy integral exports obtains the rectangular pulse signal of wider width through comparator and pulse extension circuit, the leading edge position of this rectangular pulse signal remains the positional information of direct pulse signal arrival, thus can estimate by extracting rectangular pulse signal leading edge position information the position that direct pulse signal arrives;
Concrete, described step B is:
Start to charge to the electric capacity of RC integrating circuit when the rising edge of rectangular pulse signal arrives, the electric capacity complete charge when the trailing edge of rectangular pulse signal arrives also starts electric discharge, export RC Charge-discharge wave shape signal, the initiation of charge initial time of RC circuit remains the leading edge position information of rectangular pulse signal, thus by estimating that the initiation of charge time of RC circuit can estimate the position that direct pulse signal arrives;
Step C is: RC Charge-discharge wave shape signal is converted into digital waveform signal through A/D converter sampling;
Concrete, described step D is:
The start position information that the position that digital waveform signal is changed to nonzero value from null value comprises the charging of RC circuit processes to the data obtained of sampling the estimated position obtaining the RC circuit initiation of charge time, and the accuracy of this estimated position depends on the sampling rate of A/D converter;
Concrete, described step e is:
According to charging voltage and the relation in charging interval, obtain accurate RC circuit charging initial time by the magnitude of voltage 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 that a kind of ultra broadband is located, the existing incoherent reception method based on energy measuring is improved, before AD sampling, add head reach pulse position information extraction circuit, head reaches pulse position information extraction circuit and comprises thresholding and compare and pulse extension circuit, thus pulse signal energy integral obtained is converted into the rectangular pulse signal retaining direct pulse signal in-position information, the RC Charge-discharge wave shape signal that rectangular pulse signal relatively delays through RC integrating circuit generation rising edge, adopt the A/D converter of lower sampling rate to its digital-to-analogue conversion and process the estimated position obtaining the RC circuit initiation of charge time, according to the relation in charging interval and charging interval, by estimated position sampled value thus obtain accurate TOA and estimate, thus make the A/D of lower sampling rate can be used in ultra-wideband positioning system and realize accurate TOA to estimate.
Another technical problem that the present invention will solve is, provides a kind of circuit assembly realizing the TOA method of estimation of ultra broadband location.
For solving the problems of the technologies described above, the technical solution used in the present invention is: this circuit assembly comprises the energy detection circuit be linked in sequence, A/D converter and digital signal processor, between energy detection circuit and A/D converter, be also provided with head reach pulse position information extraction circuit and RC integrating circuit, described head reaches pulse position information extraction circuit and comprises comparator and pulse extension circuit, energy detection circuit sequentially passes through the rectangular pulse signal that comparator and pulse extension circuit obtain wider width after receiving impulse ultra-wideband signal, this rectangular pulse signal exports RC Charge-discharge wave shape signal to A/D converter after RC integrating circuit.
Further, also sampling hold circuit is provided with between described RC integrating circuit and A/D converter.
Accompanying drawing explanation
Fig. 1 receiver block diagram;
The schematic diagram of Fig. 2 RC integrating circuit;
The schematic diagram of Fig. 3 signal transacting;
Fig. 4 is the circuit assembly figure of the TOA method of estimation realizing ultra broadband location;
Fig. 5 is the circuit assembly figure after being added with sampling hold circuit in Fig. 4.
Embodiment
Embodiment:
Fig. 1 is the flow chart (receiver block diagram) of the TOA method of estimation of ultra broadband location, is described in detail to the specific embodiment of the present invention below in conjunction with accompanying drawing:
In ultra wideband impulse radio system, implement the ultra broadband location TOA method of estimation detected based on incoherent energy for the pulse ultra-broad band modulated in conjunction with OOK.
Transmit and can be expressed as:
（1）
The pulse train that S (t) is made up of monocycle impulse p (t), j is exomonental number.
t s for the pulse repetition period.
Channel adopts the CM1 channel of IEEE 802.15.4a channel.
Be expressed as by the Received signal strength of channel:
（2）
h (t)for channel impulse response,
n (t)for additive noise.
The signal that energy measuring exports is as shown in Fig. 3 3.1, and the signal energy block that energy measuring exports can be expressed as:
（3）
Wherein
t b represent the cycle of integration,
nrepresent the energy block in each frame,
t s for the pulse repetition period.
Signal after thresholding compares and pulse is extended, as shown in Fig. 3 3.2, is rectangular pulse signal
rect (t).
Shown in Fig. 2 is RC integrating circuit schematic diagram, rectangular pulse signal
rect (t)rC Charge-discharge wave shape signal is exported after RC integrating circuit
rc (t), as shown in Fig. 3 3.3.Electric capacity charges from no-voltage,
rect (t)rising edge arrive time start charging and
rect (t)trailing edge arrive time start electric discharge, capacitance voltage can be expressed as:
（4）
Wherein
v rect for rectangular pulse signal
rect (t)voltage,
τfor the time constant of RC integrating circuit.
After sampling hold circuit shown in Fig. 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)represent,
rc (n)for
rc (t)with sampling rate
fsthe sequence obtained after sampling, in Fig. 3,3.4 are depicted as
rc (n).
Complete TOA rough estimate, use
rc (n)extract charging start time position information
pos (n),then can rough estimate count the first time of advent reaching pulse:
（5）
Complete TOA carefully to estimate, according to charging voltage and the relation in charging interval,
pos (n)the magnitude of voltage of position sampling is
rc (pos (n)), according to formula (4), can the charging interval be calculated
t charge for:
（6）
Then can carefully be estimated as the first time of advent reaching pulse:
（7）
The TOA method of estimation simulation parameter that table one detects based on incoherent energy
Simulation result under the CM1 channel circumstance of table two IEEE 802.15.4a
Emulate A/D sampling rate used
fsfor 100MHz, namely the temporal resolution of system was 10 nanoseconds, the systematic error introduced is very large, after the circuit introducing RC integration, utilize the relation in charging voltage and charging interval to revise the result of rough estimate, from rough estimate and the thin contrast estimated, the method makes TOA estimation accuracy have large increase, also makes comparatively low rate A/D device become possibility for ultra-wideband positioning system.
For realizing the TOA method of estimation of the above-mentioned ultra broadband location of the present embodiment, as shown in Figure 4, the circuit assembly adopted comprises the energy detection circuit be linked in sequence, A/D converter and digital signal processor, between energy detection circuit and A/D converter, be also provided with head reach pulse position information extraction circuit and RC integrating circuit, described head reaches pulse position information extraction circuit and comprises comparator and pulse extension circuit, energy detection circuit sequentially passes through the rectangular pulse signal that comparator and pulse extension circuit obtain wider width after receiving impulse ultra-wideband signal, this rectangular pulse signal exports RC Charge-discharge wave shape signal to A/D converter after RC integrating circuit.
As shown in Figure 5, between RC integrating circuit and A/D converter, also sampling hold circuit is provided with.
Claims (4)
1. a TOA method of estimation for ultra broadband location, comprises the steps:
Steps A, the impulse ultra-wideband signal received triggers and generates rectangular pulse signal after energy integral;
Step B, rectangular pulse signal generates RC Charge-discharge wave shape signal through RC integrating circuit;
Step C, A/D converter carries out digitlization to the RC Charge-discharge wave shape signal exported and sends into digital signal processor;
Step D, carries out TOA rough estimate, and digital signal processor processes the digitized signal that A/D converter exports, and obtains the estimated position of RC circuit initiation of charge time;
Step e, carries out TOA and carefully estimates, obtain accurate RC circuit according to charging voltage and the relation in charging interval and to charge initial time, this time is accurate TOA and estimates;
Described steps A is specially: setting comparator threshold value, and this threshold value should be able to obtain good performance on wider SNR ranges, thus ensures the accuracy extracting direct pulse positional information;
Under the thresholding of setting, the signal that energy integral exports obtains the rectangular pulse signal of wider width through comparator and pulse extension circuit.
2. the TOA method of estimation of ultra broadband location according to claim 1, it is characterized in that, described step B is specially: start to charge to the electric capacity of RC integrating circuit when the rising edge of rectangular pulse signal arrives, the electric capacity complete charge when the trailing edge of rectangular pulse signal arrives also starts electric discharge, export RC Charge-discharge wave shape signal, the initiation of charge time of RC circuit remains the leading edge position information of rectangular pulse signal, thus by estimating that the initiation of charge time of RC circuit can estimate the position that direct pulse signal arrives.
3. the TOA method of estimation of ultra broadband location according to claim 2, 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 to sampling, the data obtained process the estimated position obtaining the RC circuit initiation of charge time
,the accuracy of this estimated position depends on the sampling rate of A/D converter.
4. the TOA method of estimation of ultra broadband location according to claim 3, it is characterized in that, described step e is specially: according to charging voltage and the relation in charging interval, obtain accurate RC circuit charging initial time by the magnitude of voltage of RC circuit initiation of charge time Estimate position, the TOA that this time is accurate direct pulse signal estimates.
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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 |
| 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 |
| CN107561918B (en) * | 2017-08-29 | 2019-10-25 | 郑州联睿电子科技有限公司 | TOA estimation method and device are positioned based on FPGA ultra wide band |
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| JP2009204356A (en) * | 2008-02-26 | 2009-09-10 | Keio Gijuku | Arrival time presumption device |
| CN101944926A (en) * | 2010-08-24 | 2011-01-12 | 哈尔滨工业大学深圳研究生院 | Compressed sampling based estimating method of arrival time of pulse ultra-wide band signal |
| CN102905367A (en) * | 2012-09-29 | 2013-01-30 | 中国石油大学(华东) | Ultra wide band wireless locating method based on skewness and maximum slope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2009204356A (en) * | 2008-02-26 | 2009-09-10 | Keio Gijuku | Arrival time presumption device |
| CN101944926A (en) * | 2010-08-24 | 2011-01-12 | 哈尔滨工业大学深圳研究生院 | Compressed sampling based estimating method of arrival time of pulse ultra-wide band signal |
| CN102905367A (en) * | 2012-09-29 | 2013-01-30 | 中国石油大学(华东) | Ultra wide band wireless locating method based on skewness and maximum slope |
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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. |