CN103344955A - Wireless ranging node and wireless ranging method - Google Patents
Wireless ranging node and wireless ranging method Download PDFInfo
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- CN103344955A CN103344955A CN2013102326190A CN201310232619A CN103344955A CN 103344955 A CN103344955 A CN 103344955A CN 2013102326190 A CN2013102326190 A CN 2013102326190A CN 201310232619 A CN201310232619 A CN 201310232619A CN 103344955 A CN103344955 A CN 103344955A
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Abstract
The invention discloses a wireless ranging node and a wireless ranging method. The wireless ranging node comprises a central processing unit, a Chirp signal radio frequency unit, a radio frequency front end unit, a power supply unit, a sensor unit and a data communication unit. The Chirp signal radio frequency unit is used for mutual conversion between digital signals and radio-frequency signals, the radio frequency front end unit is used for amplifying and filtering Chirp signals, the power supply unit is used for supplying a working power supply, and the sensor unit is used for providing node information. According to the wireless ranging node, the sensor unit informs the central processing unit of a motion state of the whole node, and the central processing unit controls the whole node to enter a working state with low power consumption at a proper moment. The wireless ranging method improves ranging accuracy of SDS-TWR through the characteristic that an actual time interval for continuously sending data two times between two nodes is equal to a time interval for continuously receiving the same data two times and through the method of figuring out clock offset of the two nodes with a time deviation formula of the SDS-TWR method.
Description
Technical field
The present invention relates to a kind of wireless distance finding device and distance-finding method thereof, be specifically related to a kind of wireless distance finding device node and based on the wireless distance finding method of this node, belong to the wireless distance finding field.
Background technology
The wireless senser location technology is one of gordian technique of wireless sensor network, and is general all than non-precision height based on distance-finding method based on the localization method of distance.The method of selective analysis range finding, common distance-finding method has the time of arrival of measuring-signal at present, time of arrival is poor, acknowledge(ment) signal intensity is indicated and arrive angle etc.The carrier of distance measuring signal mainly contains ultrasound wave, laser, infrared ray, electromagnetic wave etc.
At present a lot of wireless sensor nodes utilize ultrasonic technology to find range.But because ultrasound wave is subjected to the influence of a lot of external factors such as environment temperature, wind speed, triggered time, Hardware Response Delay time easily, cause the consistance of distance accuracy very poor.The influence of indoor multipath effect has limited its spread scope in addition, and finding range is generally less than 10 meters.
Also can find the product that much utilizes the infrared ray location technology on the market, the positioning principle of infrared technique is the infrared-ray of infrared ray IR identification transmissions modulation, positions by being installed in indoor optical sensor reception.Though infrared ray has higher relatively indoor position accuracy, because light can not pass barrier, make that infrared-ray only can line-of-sight propagation.Short this two big major defect of straight line sighting distance and transmission range makes the poor effect of its indoor positioning.In sign is placed on pocket or when having wall and other to block with regard to cisco unity malfunction, need be in each room, the corridor installs receiving antenna, cost is higher.Therefore, infrared ray only is fit to short distance to be propagated, and is disturbed by the light in fluorescent light or the room easily, and limitation is accurately arranged in the location.
Occurred the ultra broadband location technology in recent years again, it does not need to use the carrier wave in the traditional communication system, but has nanosecond or the ultra-narrow pulse below the nanosecond transmits data by sending and receiving, thereby has the bandwidth of GHz magnitude.Ultra broadband can be used for indoor accurate position, and for example battlefield soldier's position is found, the robot motion follows the tracks of etc., but because its ultra broadband characteristic, often the frequency range of Shi Yonging is higher, and the signal penetration capacity is very poor, and signal can not resist and blocks.Nanotron company has proposed based on linear frequency modulation spread spectrum (Chirp Spread Spectrum, hereinafter to be referred as CSS) technology utilizes symmetrical bilateral bidirectional ranging (Symmetrical Double-Sided Two Way Ranging, hereinafter to be referred as SDS-TWR) method of method wireless distance finding can effectively improve distance accuracy, need not time synchronized, range error is controlled on the deviation of clock between node.Also the timing devices such as crystal oscillator that use just because of range finding chip itself exist certain deviation, cause distance accuracy to be difficult to do further raising, the wireless distance finding node that uses both at home and abroad at present can not be broken away from active power supply mode in addition, and power consumption also is urgent problem so.
Summary of the invention
At the power problems that exists in the wireless distance finding process in the prior art and wireless distance finding precision problem, the present invention proposes the method for a kind of low-consumption wireless range finding node and a kind of improved high precision wireless range finding on the SDS-TWR basis.
Technical scheme of the present invention is:
A kind of wireless distance finding node comprises for other unit are controlled, and comprises the CPU (central processing unit) of central processing unit, SPI control module, interruption detecting unit; Be controlled by CPU (central processing unit), be used for the Chirp signal RF unit of the mutual conversion of digital signal and radiofrequency signal; Be connected in Chirp signal RF unit, comprise bandwidth-limited circuit, power amplification circuit, radio-frequency antenna, be used for the Chirp signal is amplified radio-frequency front-end unit with bandpass filtering; The power supply unit of working power is provided for CPU (central processing unit), Chirp signal RF unit, radio-frequency front-end unit; Be connected with CPU (central processing unit), comprise shock sensor and button, be used for providing nodal information to CPU (central processing unit), make central processing unit controls enter the sensor unit of low power consumpting state; Comprising USB changes the data communication units of serial ports and blue tooth interface module.
Further, described power supply unit is just given other unit power supplies with power-by power supply; Described data communication units is connected with CPU (central processing unit) by the line that transmits and receive data of usb data line and serial ports; The shock sensor of described sensor unit uses the IO mouth to be connected with the interruption detecting unit of CPU (central processing unit) with button.
Further, described CPU (central processing unit) is controlled Chirp signal RF unit by spi bus.
Further, described central processor unit and Chirp signal RF unit have low power mode of operation; Described sensor unit can activate the central processing unit that is in low power mode of operation by external interrupt, and central processing unit can activate the Chirp signal RF unit that is in low-power consumption mode.
Further, described Chirp signal RF cell operation is in the ISM band of 2.4G.
Further; described power supply unit comprises lithium battery group, battery protection chipset, power conversion chip and charging circuit; described lithium battery group is given CPU (central processing unit), Chirp signal RF unit and the power supply of radio-frequency front-end unit by power protection chipset, power conversion chip, and described charging circuit charges to the lithium battery group by the battery protection chipset.
A kind of wireless distance finding method, this method are improved the higher wireless distance finding of realization precision by wireless mode communication on the SDS-TWR basis, specifically comprise the steps:
(1) two nodes of A, B are set, node A and Node B are put on the position of known distance, note the distance B between two nodes
AB
(2) the Node B of node A is carried out the SDS-TWR range finding, and notes T
1, T
2, T
3, T
4, wherein, the concrete steps of SDS-TWR wireless distance finding method are: node A sends ranging data and picks up counting to Node B; Node B receives the ranging data that node A sends over and picks up counting; Node B receives ranging data and sends acknowledgement frame to node A, and finishes timing, notes timing time T
2Node A receives acknowledgement frame and stops timing, notes timing time T
1Node B sends ranging data and picks up counting to node A; Node A receives the ranging data that Node B sends over and picks up counting; Node A receives ranging data and sends acknowledgement frame to Node B, and finishes timing, notes timing time T
4Node B is received acknowledgement frame and is stopped timing, notes timing time T
3Node B sends T
2And T
3Give node A; Node A receives T
2And T
3The back is in conjunction with the T of this node record
1And T
4Calculate distance;
(3) the Node B of node A sends two packets continuously, and node A notes the mistiming T of twice packet of continuous transmission
S, Node B is noted the mistiming T of double reception packet
RAnd the result sent to node A;
(4) node A is according to obtaining D in the above-mentioned steps
AB, T
1, T
2, T
3, T
4, list SDS-TWR and contain clock jitter e
AAnd e
BFormula:
, wherein c is the light velocity, has only e in this formula
AAnd e
BIt is unknown number; According to the D that obtains in the above-mentioned steps
AB, T
SAnd T
R, utilize between two nodes send two packets continuously the transmission real time at interval and the characteristic that equates at interval of the reception real time of these two packets obtain formula:
, also have only e in this formula equally
AAnd e
BBe unknown number, two formula can calculate the clock jitter e of two nodes thus
AAnd e
B
(5) node A and Node B break away from the known distance position described in the step (1), substitution step (4) calculate e
AAnd e
BCarry out the SDS-TWR range finding;
(6) node A informs the user to the range finding result by USB commentaries on classics serial ports or blue tooth interface module in the data communication units.
Further, described wireless distance finding method need not time synchronized between node.
The invention has the beneficial effects as follows:
Wireless distance finding node provided by the invention utilizes sensor unit to inform the motion state of CPU (central processing unit) whole node, and the central processing unit controls whole node enters the low-power consumption duty in the suitable moment; The higher wireless distance finding method of precision that realizes of improving on the SDS-TWR basis provided by the invention, utilize between two nodes send two secondary data continuously real time at interval and receive the characteristic that time interval of twice same data equates continuously, and time deviation worker's formula of SDS-TWR method itself calculates the distance accuracy of method raising SDS-TWR of the clock jitter of two nodes.
Description of drawings
Fig. 1 is SDS-TWR distance-finding method schematic diagram;
Fig. 2 is the structured flowchart of a kind of wireless distance finding node of the present invention;
Fig. 3 is the schematic diagram of a kind of wireless distance finding method of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Have SDS-TWR wireless distance finding implementation method now as shown in Figure 1, concrete steps are as follows:
1, node A sends ranging data and picks up counting to Node B;
2, Node B receives the ranging data that node A sends over and picks up counting;
3, Node B receives ranging data and sends acknowledgement frame to node A, and finishes timing, notes timing time T
2
4, node A receives acknowledgement frame and stops timing, notes timing time T
1
5, Node B sends ranging data and picks up counting to node A;
6, node A receives the ranging data that Node B sends over and picks up counting;
7, node A receives ranging data and sends acknowledgement frame to Node B, and finishes timing, notes timing time T
4
8, Node B is received acknowledgement frame and is stopped timing, notes timing time T
3
9, Node B sends T
2And T
3Give node A;
10, node A receives T
2And T
3The back is in conjunction with the T of this node record
1And T
4Calculate distance.
Referring to Fig. 2, wireless distance finding node provided by the invention comprises CPU (central processing unit), Chirp signal RF unit, radio-frequency front-end unit, power supply unit, sensor unit and six parts of data communication units.
CPU (central processing unit), be mainly used in by spi bus Chirp signal RF unit, radio-frequency front-end unit being controlled and finish range finding, and a range finding result sends to data communication units, central processing unit also is used for the collecting sensor unit information simultaneously, and the control whole node enters low-power consumption mode.This part is made up of central processing unit, SPI control module and interruption detecting unit etc., and wherein the SPI control module is used for the control to spi bus, finishes the wireless distance finding process, interrupts detecting unit for detection of the signal of sensor unit.
Chirp signal RF unit is controlled by CPU (central processing unit), is mainly used in the mutual conversion of digital signal and radiofrequency signal, and wireless communication protocol is resolved, extracted and encrypts, and the modulation between realization digital signal and the radiofrequency signal.
The radio-frequency front-end unit is connected in Chirp signal RF unit, constituted by power amplification circuit, bandwidth-limited circuit and radio-frequency antenna, be mainly used in the signal that radio frequency unit produces is amplified, filtering also sends signal by radio-frequency antenna, receive wireless signal by antenna on the other hand, after the filtering signal is submitted to radio frequency unit.
Power supply unit comprises lithium battery group, battery protection chipset, power conversion chip and charging circuit for CPU (central processing unit), Chirp signal RF unit and radio-frequency front-end unit provide working power.Wherein the lithium battery group is whole node energy reserves warehouse; lithium battery overcharges or crosses the impaired characteristics of putting; the battery protection chipset is used for preventing that lithium battery from being overcharged or puts excessively; charging circuit is used for to lithium battery supply energy, and it is multiplexing that charging inlet changes serial interface with the USB in the data communication units.The lithium battery group is given CPU (central processing unit), Chirp signal RF unit and the power supply of radio-frequency front-end unit by power protection chipset, power conversion chip, and charging circuit charges to the lithium battery group by the battery protection chipset.
Sensor unit mainly comprises shock sensor and button, and being used for provides the node movable information to CPU (central processing unit), informs CPU (central processing unit) node motion state, so that CPU (central processing unit) is rationally controlled the power consumption of node.
Data communication units mainly changes serial ports by USB and low-power consumption blue tooth interface module constitutes, and is used for submitting to the wireless distance finding result to give the user.
Power supply unit is just given other unit power supplies with power-by power supply, described data communication power supply is connected with CPU (central processing unit) by the line that transmits and receive data of usb data line and serial ports, and the shock sensor of described sensor unit uses the IO mouth directly to be connected with the interruption detecting unit of CPU (central processing unit) with button.
CPU (central processing unit) is controlled Chirp signal RF unit by spi bus; Central processor unit and Chirp signal RF unit have low power mode of operation, sensor unit can activate the central processing unit that is in low power mode of operation by external interrupt, and central processing unit can activate the Chirp signal RF unit that is in low-power consumption mode.Chirp signal RF cell operation is in the ISM band of 2.4G.
Referring to Fig. 3, the present invention also provides a kind of higher wireless distance finding method of precision that realizes of improving on the SDS-TWR basis, first node is communicated by letter by wireless mode with Section Point, improves on the SDS-TWR basis and realizes the higher wireless distance finding of precision, and this wireless distance finding method comprises the steps:
1. node A and Node B are put on the position of known distance, note the distance B between two nodes
AB
2. the Node B of node A is carried out SDS-TWR range finding (the SDS-TWR ranging process as shown in Figure 1), and notes T as shown in Figure 1
1, T
2, T
3, T
4
3. the Node B of node A sends two packets continuously, and node A notes the mistiming T of twice packet of continuous transmission
S, Node B is noted the mistiming T of double reception packet
RAnd the result sent to node A
4. node A is according to obtaining D in the above-mentioned steps
AB, T
1, T
2, T
3, T
4, list SDS-TWR and contain clock jitter e
AAnd e
BFormula:
, wherein c is the light velocity, given value has only e in this formula
AAnd e
BIt is unknown number; According to the D that obtains in the above-mentioned steps
AB, T
SAnd T
R, utilize between two nodes send two packets continuously the transmission real time at interval and the characteristic that equates at interval of the reception real time of these two packets obtain following formula:
, also have only e in this formula equally
AAnd e
BIt is unknown number.Two formula can calculate the clock jitter e of two nodes thus
AAnd e
B
5. node A and Node B break away from the known distance position described in the step 1, substitution step 4 calculate carry out e
AAnd e
BCarry out the SDS-TWR range finding.
6. node A informs the user to the range finding result by USB commentaries on classics serial ports or blue tooth interface module in the data communication units.
In the present embodiment, at first two nodes are placed on the known distance position, utilize the SDS-TWR method to provide one and only have e
AAnd e
BThe formula of unknown number, the characteristic that the real time price of the double transmitting and receiving data bag of recycling equates provides another and only contains e
AAnd e
BFormula, and then calculate the clock jitter of two nodes, getting access to e
AAnd e
BThe basis on carrying out SDS-TWR range finding, can be that distance accuracy improves 1-2 the order of magnitude.
The above only is preferred embodiment of the present invention, not in order to limit the present invention.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a wireless distance finding node is characterized in that: comprise for other unit are controlled, comprise the CPU (central processing unit) of central processing unit, SPI control module, interruption detecting unit; Be controlled by CPU (central processing unit), be used for the Chirp signal RF unit of the mutual conversion of digital signal and radiofrequency signal; Be connected in Chirp signal RF unit, comprise bandwidth-limited circuit, power amplification circuit, radio-frequency antenna, be used for the Chirp signal is amplified radio-frequency front-end unit with bandpass filtering; The power supply unit of working power is provided for CPU (central processing unit), Chirp signal RF unit, radio-frequency front-end unit; Be connected with CPU (central processing unit), comprise shock sensor and button, be used for providing nodal information to CPU (central processing unit), make central processing unit controls enter the sensor unit of low power consumpting state; Comprising USB changes the data communication units of serial ports and blue tooth interface module.
2. a kind of wireless distance finding node according to claim 1 is characterized in that: described power supply unit is just given other unit power supplies with power-by power supply; Described data communication units is connected with CPU (central processing unit) by the line that transmits and receive data of usb data line and serial ports; The shock sensor of described sensor unit uses the IO mouth to be connected with the interruption detecting unit of CPU (central processing unit) with button.
3. a kind of wireless distance finding node according to claim 1, it is characterized in that: described CPU (central processing unit) is controlled Chirp signal RF unit by spi bus.
4. a kind of wireless distance finding node according to claim 1, it is characterized in that: described central processor unit and Chirp signal RF unit have low power mode of operation; Described sensor unit can activate the central processing unit that is in low power mode of operation by external interrupt, and central processing unit can activate the Chirp signal RF unit that is in low-power consumption mode.
5. a kind of wireless distance finding node according to claim 1, it is characterized in that: described Chirp signal RF cell operation is in the ISM band of 2.4G.
6. a kind of wireless distance finding node according to claim 1; it is characterized in that: described power supply unit comprises lithium battery group, battery protection chipset, power conversion chip and charging circuit; described lithium battery group is given CPU (central processing unit), Chirp signal RF unit and the power supply of radio-frequency front-end unit by battery protection chipset, power conversion chip, and described charging circuit charges to the lithium battery group by the battery protection chipset.
7. the wireless distance finding method of any described wireless distance finding node in the claim 1 to 6 is characterized in that: by wireless mode communication, improve on the SDS-TWR basis and to realize the higher wireless distance finding of precision, specifically comprise the steps:
(1) two nodes of A, B are set, node A and Node B are put on the position of known distance, note the distance B between two nodes
AB
(2) the Node B of node A is carried out the SDS-TWR range finding, and notes T
1, T
2, T
3, T
4, wherein, the concrete steps of SDS-TWR wireless distance finding method are: node A sends ranging data and picks up counting to Node B; Node B receives the ranging data that node A sends over and picks up counting; Node B receives ranging data and sends acknowledgement frame to node A, and finishes timing, notes timing time T
2Node A receives acknowledgement frame and stops timing, notes timing time T
1Node B sends ranging data and picks up counting to node A; Node A receives the ranging data that Node B sends over and picks up counting; Node A receives ranging data and sends acknowledgement frame to Node B, and finishes timing, notes timing time T
4Node B is received acknowledgement frame and is stopped timing, notes timing time T
3Node B sends T
2And T
3Give node A; Node A receives T
2And T
3The back is in conjunction with the T of this node record
1And T
4Calculate distance;
(3) the Node B of node A sends two packets continuously, and node A notes the mistiming T of twice packet of continuous transmission
S, Node B is noted the mistiming T of double reception packet
RAnd the result sent to node A;
(4) node A is according to obtaining D in the above-mentioned steps
AB, T
1, T
2, T
3, T
4, list SDS-TWR and contain clock jitter e
AAnd e
BFormula:
, wherein c is the light velocity, has only e in this formula
AAnd e
BIt is unknown number; According to the D that obtains in the above-mentioned steps
AB, T
SAnd T
R, utilize between two nodes send two packets continuously the transmission real time at interval and the characteristic that equates at interval of the reception real time of these two packets obtain formula:
, also have only e in this formula equally
AAnd e
BBe unknown number, two formula can calculate the clock jitter e of two nodes thus
AAnd e
B
(5) node A and Node B break away from the known distance position described in the step (1), substitution step (4) calculate e
AAnd e
BCarry out the SDS-TWR range finding;
(6) node A informs the user to the range finding result by USB commentaries on classics serial ports or blue tooth interface module in the data communication units.
8. a kind of wireless distance finding method according to claim 7, it is characterized in that: described wireless distance finding method need not time synchronized between node.
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