CN103941231A - Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing - Google Patents
Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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Abstract
The invention discloses an indoor positioning system and positioning method for ultrasound radio frequency signal combined processing. The indoor positioning system comprises three kinds of basic nodes which are anchor nodes, mobile nodes and display control nodes. The anchor nodes are fixed nodes with spatial positions known, the mobile nodes are active nodes with position coordinates needing to be determined in space, and the display control nodes display a system topological structure and node positioning results in real time and perform coordination control on the whole system. The anchor nodes and the mobile nodes perform contact by adopting radio frequency and ultrasonic signals, data processing is performed on received sound signals on the anchor nodes or the mobile nodes, spatial three-dimensional coordinates of the mobile nodes are solved, and system positioning results are finally displayed on the display control nodes. Compared with ultra-wideband radio frequency, WIFI radio frequency, video images and the like, the ultrasonic positioning system has the advantages of being prominent in performance, low in cost, high in privacy and free of electromagnetic pollution and is a first choice technology for indoor position services.
Description
Technical Field
The invention relates to a system for realizing indoor moving target positioning based on ultrasonic and radio frequency combined processing and a realization method thereof, belonging to the technical field of ultrasonic detection and positioning.
Background
With the rapid increase of data services and multimedia services, people's demands for positioning and navigation are increasing, and especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines and other environments, it is often necessary to determine the indoor position information of the mobile terminal or its holder, facilities and articles. However, the perfect positioning technology cannot be utilized well at present due to the limitation of the positioning time, the positioning accuracy, the complex indoor environment and other conditions. Therefore, experts and scholars propose various indoor positioning technical solutions, such as a-GPS positioning technology, ultrasonic positioning technology, bluetooth technology, infrared technology, radio frequency identification technology, ultra-wideband technology, wireless local area network, optical tracking positioning technology, image analysis, beacon positioning, computer vision positioning technology, and the like. These indoor positioning technologies can be generally categorized into several categories, namely GNSS technologies (e.g. pseudolite, etc.), wireless positioning technologies (wireless communication signals, radio frequency radio tags, ultrasound, light tracking, wireless sensor positioning technologies, etc.), other positioning technologies (computer vision, dead reckoning, etc.), and positioning technologies that combine GNSS and wireless positioning (a-GPS or a-GNSS).
Considering the characteristics of indoor positioning, how to improve the positioning accuracy is the key point of research, and the ultrasonic positioning technology is a preferred scheme for realizing indoor high-accuracy positioning due to higher overall positioning accuracy, simple structure and relatively low cost.
Disclosure of Invention
The invention aims to provide an indoor positioning system based on radio frequency ultrasonic signal combined processing and a positioning implementation method thereof. The anchor node and the mobile node are connected by adopting radio frequency and ultrasonic signals, data processing is carried out on the received sound signals on the anchor node or the mobile node, a high-precision positioning algorithm is operated, the space three-dimensional coordinate of the mobile node is worked out, and finally the positioning result of the system is displayed on the display control node.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an indoor positioning system for ultrasonic radio frequency signal combined processing is characterized by comprising three types of basic nodes: the system comprises an anchor node, a mobile node and a display control node;
the anchor node is fixed on an indoor roof, is a fixed node with a known spatial position, and is in contact with the mobile node by adopting a radio frequency ultrasonic signal;
the mobile node is an active node in space needing to be determined position coordinates;
positioning the mobile node between the anchor node and the mobile node by receiving and transmitting ultrasonic signals;
and carrying out data processing on the received ultrasonic signals on the mobile node or the display control node, calculating and positioning, and solving the space three-dimensional coordinate of the mobile node.
And the display control node displays the topological structure of the system and the positioning result of the mobile node in real time and performs coordination control on the whole system.
The display control node comprises a controller, a processor, a display and a radio frequency communication module, wherein the controller controls the processor, the display and the radio frequency communication module to work.
The anchor node comprises a controller, a signal generator, an ultrasonic emission probe and a radio frequency communication module, wherein the controller controls the signal generator, the ultrasonic emission probe and the radio frequency communication module to work.
The mobile node comprises a controller, a processor, an ultrasonic receiving probe and a radio frequency communication module, wherein the controller controls the processor, the ultrasonic receiving probe and the radio frequency communication module to work.
And the synchronous signals are transmitted and received among the anchor nodes through the radio frequency communication module, and the synchronous signals are radio frequency signals.
The anchor node and the mobile node operate in a synchronous mode or an asynchronous mode.
Synchronization mode, precise positioning of the target relies on accurate synchronization of clocks between the anchor node and the mobile node.
And in the asynchronous mode, on the premise of meeting a certain topological structure, the accurate positioning of the target does not depend on the accurate synchronization of clocks between the anchor node and the mobile node.
The positioning method of the indoor positioning system for ultrasonic radio frequency signal combined processing is characterized by comprising the following steps of:
(1) installing at least more than 4 anchor nodes on an indoor roof according to a specific topological structure, and accurately calibrating the geographic coordinates of each anchor node;
(2) the anchor nodes use radio frequency signals for synchronization and transmit and receive ultrasonic signals with the mobile nodes;
(3) processing data on the mobile node or the display control node, and operating a positioning algorithm to obtain a positioning result;
(4) and displaying the positioning result on the display control node.
Determining the coordinates of the mobile nodes by the positioning algorithm in the step (3) by adopting a spherical intersection method, and knowing that the positions of m anchor nodes on the roof are coordinates (x) respectively under the condition that the m anchor nodes are usedn,yn,zn) Wherein n is 1,2,3,4 … m, solving for the mobile node position P coordinates (x, y, z);
the following spherical equation set is obtained according to the receiving and transmitting position and the slope distance:
obtaining the following formula by using least square method
Wherein,is an estimated quantity of x and is,is an estimated quantity of y that is,is an estimate of z.
The invention achieves the following beneficial effects:
the invention provides centimeter-level and sub-centimeter-level accurate position service for indoor users. The system mainly comprises an anchor node fixed on a roof and a mobile node carried by an indoor user. The system adopts advanced broadband coding, not only improves the positioning precision, but also can meet the simultaneous positioning service of more than 1000 indoor users. The system can be used for shopping navigation in shopping malls, tour guide in museums, nursing home guide, high-value target tracking service, ultrasonic mouse, ultrasonic pen, electronic whiteboard, space writing of Google glasses and other applications.
Compared with the technologies such as ultra-wideband radio frequency, WIFI radio frequency and video image, the ultrasonic positioning system designed by the invention has the advantages of outstanding performance, low cost, strong privacy, no electromagnetic pollution and the like, and is a preferred technology for indoor positioning service.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a display control node of an indoor positioning system according to the present invention.
Fig. 2 is a schematic structural diagram of an anchor node of the indoor positioning system of the present invention.
Fig. 3 is a schematic structural diagram of a mobile node of the indoor positioning system of the present invention.
Fig. 4 is an ultrasonic transmission flow chart of the indoor positioning system of the present invention.
Fig. 5 is a model block diagram of an indoor positioning system of the present invention.
Fig. 6 is a schematic diagram of positioning of the transmit-receive-uplink operation mode described in embodiment 1 of the present invention.
Fig. 7 is a schematic diagram of positioning the lower-issue upper-receive operation mode described in embodiment 2 of the present invention;
fig. 8 is a schematic diagram of an indoor positioning system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 8, the system is composed of three types of basic nodes: the system comprises an anchor node (emitter), a mobile node (receiver) and a display control node (display terminal). The anchor node is fixed on an indoor roof, is a fixed node with a known spatial position, is in contact with the mobile node by adopting a radio frequency ultrasonic signal, the mobile node is a movable node with a position coordinate needing to be determined in the space, and the display control node displays the topological structure of the system and the node positioning result in real time and performs coordination control on the whole system.
The display control node comprises a controller, a processor, a display, a radio frequency communication module and the like, and as shown in fig. 1, the controller controls the processor, the display and the radio frequency communication module to work.
The anchor node comprises a controller, a signal generator, an ultrasonic emission probe, a radio frequency communication module and the like, wherein the controller controls the signal generator, the ultrasonic emission probe and the radio frequency communication module to work as shown in figure 2.
The mobile node is composed of a controller, a processor, an ultrasonic receiving probe, a radio frequency communication module and the like, and as shown in fig. 3, the controller controls the processor, the ultrasonic receiving probe and the radio frequency communication module to work.
And the synchronous signals are transmitted and received among the anchor nodes through the radio frequency communication module, and the synchronous signals are radio frequency signals.
The anchor node and the mobile node can work in two modes: synchronous mode and asynchronous mode.
In the synchronous working mode, the accurate positioning of the target depends on the accurate synchronization of the clocks between the anchor node and the mobile node.
The asynchronous working mode ensures that the accurate positioning of the target does not depend on the accurate synchronization of the clocks between the anchor node and the mobile node on the premise of meeting a certain topological structure.
The anchor node and the mobile node receive and transmit ultrasonic signals through respective ultrasonic transmitting probes to realize the positioning of the mobile node.
And carrying out data processing on the received acoustic signals on the anchor node or the mobile node, operating a high-precision positioning algorithm, and calculating the space three-dimensional coordinates of the mobile node.
And the display control node based on the pc displays the topological structure of the system and the node positioning result in real time and performs coordination control on the whole system.
The positioning method of the indoor positioning system for ultrasonic radio frequency signal combined processing comprises the following steps:
(1) installing at least more than 4 anchor nodes on an indoor roof according to a specific topological structure, and accurately calibrating the geographic coordinates of each anchor node;
(2) the anchor nodes are synchronized by using radio frequency signals and receive and send ultrasonic signals with the mobile nodes;
(3) processing data on the mobile node or the display control node, and operating a positioning algorithm to obtain a positioning result;
(4) and displaying the positioning result on the display control node.
Wherein, the positioning algorithm in the step (3) adopts a spherical intersection method to determine the coordinates of the mobile node, and taking the situation that four anchor nodes are used as an example, the positions of four anchor nodes a, b, c and d on the roof are known to be coordinates (x) respectivelyn,yn,zn) N is 1,2,3,4, which forms a square, and the side length of the square can be determined by the measurement precision. And solving the P coordinates (x, y, z) of the position of the ground mobile node.
The following spherical equation set is obtained according to the receiving and transmitting position and the slope distance:
subtracting (1) from (2), (3) and (4), respectively, and obtaining the following formula by using a least square method
Wherein,is an estimate of x and, for the same reason,is an estimated quantity of y that is,is an estimate of z.
Example 1
The anchor node and the mobile node described in the invention can both receive and transmit radio frequency and ultrasonic signals, so that the positioning of the mobile node can be realized by adopting two modes: an upper-transmitting lower-receiving working mode and an upper-transmitting upper-receiving working mode.
Now, taking the above-mentioned operation mode of sending and receiving down as an example, a schematic diagram of the location of the sending and receiving system is shown in fig. 6.
The number of mobile nodes in the up-sending and down-receiving mode is not limited as long as each mobile node simultaneously receives at least 4 roof anchor node transmitting acoustic signals.
The mobile node may be self-locating and should establish a link with the outside world using a communication link if it needs someone else to know its location.
There are two types of links in the system: a radio frequency link and an acoustic link.
The radio frequency link exists among all nodes such as an anchor node, a mobile node, a display control node and the like. The method can be applied to synchronization among the anchor nodes, the mobile nodes and the display control nodes, is also responsible for transmitting the ID numbers and the space coordinate information of the anchor nodes to the mobile nodes, and simultaneously needs to feed back the topological structure and the positioning results of the system to the display control nodes, thereby realizing the functions of displaying and controlling the positioning results of the system and the like.
An acoustic link exists between the anchor node and the mobile node and can only transmit ultrasonic signals from the anchor node to the mobile node (i.e., transmit-up and receive-down).
The mobile node receives the ultrasonic signal of the anchor node, performs data processing under the control of the controller, and utilizes the processor to operate a positioning algorithm to calculate the self space coordinate value.
If the system needs, the positioning result of the mobile node can be sent to the display control node through the radio frequency link.
Example 2
Now, taking the operation manner of sending down and receiving up as an example, a schematic diagram of the location of the sending down and receiving up type system is shown in fig. 7.
The number of mobile nodes which issue the receive-over operation mode depends on the coding mode adopted by the system.
The mobile node only transmits positioning acoustic signals, and the data processing and positioning operation are completed by the display control node.
There are two types of links in the system: a radio frequency link and an acoustic link.
The radio frequency link exists among all nodes such as an anchor node, a mobile node, a display control node and the like. The method can be applied to synchronization among the anchor node, the mobile node and the display control node, and is also responsible for communication between the anchor node and the display control node, and the ultrasonic signals sent by the mobile node are subjected to preliminary data processing by the anchor node and then submitted to the display control node through a radio frequency link.
An acoustic link exists between the anchor node and the mobile node and can only transmit ultrasound signals from the mobile node to the anchor node (i.e., transmit-down and receive-up).
The anchor node receives the ultrasonic signal of the mobile node, records the receiving time, primarily processes the received ultrasonic signal and submits the ultrasonic signal to the display control node through the radio frequency link, and the positioning operation of the mobile node is realized on the display control node.
And the display control node displays the system topological structure and the mobile node positioning result, and the positioning result can be sent to the mobile node through the radio frequency link if the mobile node needs the positioning result.
The functions of the mobile node in the down-sending and up-receiving system are greatly simplified, and only ultrasonic signals are transmitted, so that the system cost can be obviously reduced, and when the number of users is increased, the system cost is greatly reduced due to the low cost of the mobile node.
Example 3
Fig. 4 shows an ultrasonic transmission block diagram, and the digital part mainly comprises three parts of digital coding signal generation, coding pulse shaping and coding signal modulation. The generated digital waveform can be stored in a register and transmitted by the controller at regular intervals.
Gold sequences are selected as the baseband signals.
The Gold sequence has the optimal ambiguity function characteristic-pin shape as a broadband pseudo-random noise signal, namely the optimal distance estimation accuracy and speed estimation accuracy, and is independently determined by a signal bandwidth B and a pulse width T respectively, namely:
distance resolution:
speed resolution:
the range resolution can be further improved by increasing the transmit signal bandwidth as long as the ultrasonic transmit transducer frequency response (flat and broadband) is tolerable. The speed resolution is related to the pulse width, the larger the pulse width, the higher the speed resolution. Both the bandwidth and the pulse width can be independently controlled, and the parameter decoupling provides great flexibility for coding design.
The Gold sequence has strong addressing capability, namely different users are distinguished, each user is allocated to a specific pseudo noise sequence, and in order to inhibit co-channel interference caused by the fact that a plurality of users share the same frequency channel, the cross correlation coefficient of the pseudo noise sequences used by the different users is required to be as small as possible. This benefits from the orthogonality of the Gold sequences: there is good correlation between the same Gold sequences, while there is little correlation between different Gold sequences.
Gold sequences are typically generated by exclusive-or operations on M-sequences, preferably pairs. The invention adopts the balanced Gold sequence as the baseband signal, can effectively restrain the carrier power, thereby improving the coding transmission efficiency.
The baseband signal is generally a square wave composed of-1 and +1 bipolar codes, and is not suitable for direct transmission, so that pulse shaping is required before transmission, which is beneficial to transmission and channel transmission and improves the utilization rate of frequency spectrum.
The frequency spectrum of the transmitted signal is specially processed by a pulse shaping filtering technology, so that the frequency band of the signal is compressed and the utilization rate of the frequency spectrum is improved on the premise of eliminating intersymbol interference (ISI) and carrying out optimal detection.
The pulse shaping filtering technique may alternatively be performed at baseband.
The baseband signal often contains more low frequency components, even dc components, and many channels and transducers cannot transmit and transmit the baseband signal. To solve this problem, the baseband signal must be modulated (modulation). The invention adopts BPSK modulation mode, the actual baseband signals in the system are all bipolar codes, i.e., +1 to-1, and 0 to + 1.
And after the modulated digital waveform passes through a high-quality digital-to-analog converter, signal amplification and band-pass filtering are carried out, so that high fidelity of a transmitted signal is ensured.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An indoor positioning system for ultrasonic radio frequency signal combined processing is characterized by comprising three types of basic nodes: the system comprises an anchor node, a mobile node and a display control node;
the anchor node is fixed on an indoor roof, is a fixed node with a known spatial position, and is in contact with the mobile node by adopting a radio frequency ultrasonic signal;
the mobile node is an active node in space needing to be determined position coordinates;
positioning the mobile node between the anchor node and the mobile node by receiving and transmitting ultrasonic signals;
and carrying out data processing on the received ultrasonic signals on the mobile node or the display control node, calculating and positioning, and solving the space three-dimensional coordinate of the mobile node.
And the display control node displays the topological structure of the system and the positioning result of the mobile node in real time and performs coordination control on the whole system.
2. The indoor positioning system for ultrasonic radio frequency signal joint processing according to claim 1, characterized in that: the display control node comprises a controller, a processor, a display and a radio frequency communication module, wherein the controller controls the processor, the display and the radio frequency communication module to work.
3. The indoor positioning system for ultrasonic radio frequency signal joint processing according to claim 1, characterized in that: the anchor node comprises a controller, a signal generator, an ultrasonic emission probe and a radio frequency communication module, wherein the controller controls the signal generator, the ultrasonic emission probe and the radio frequency communication module to work.
4. The indoor positioning system for ultrasonic radio frequency signal joint processing according to claim 1, characterized in that: the mobile node comprises a controller, a processor, an ultrasonic receiving probe and a radio frequency communication module, wherein the controller controls the processor, the ultrasonic receiving probe and the radio frequency communication module to work.
5. The indoor positioning system for ultrasonic radio frequency signal joint processing according to claim 3, wherein: and the synchronous signals are transmitted and received among the anchor nodes through the radio frequency communication module, and the synchronous signals are radio frequency signals.
6. The indoor positioning system for ultrasonic radio frequency signal joint processing according to claim 1, characterized in that: the anchor node and the mobile node operate in a synchronous mode or an asynchronous mode.
7. The indoor positioning system for ultrasonic radio frequency signal joint processing according to claim 6, wherein: synchronization mode, precise positioning of the target relies on accurate synchronization of clocks between the anchor node and the mobile node.
8. The indoor positioning system for ultrasonic radio frequency signal joint processing according to claim 6, wherein: and in the asynchronous mode, on the premise of meeting a certain topological structure, the accurate positioning of the target does not depend on the accurate synchronization of clocks between the anchor node and the mobile node.
9. The method of claim 1, comprising the steps of:
(1) installing at least more than 4 anchor nodes on an indoor roof according to a specific topological structure, and accurately calibrating the geographic coordinates of each anchor node;
(2) the anchor nodes use radio frequency signals for synchronization and transmit and receive ultrasonic signals with the mobile nodes;
(3) processing data on the mobile node or the display control node, and operating a positioning algorithm to obtain a positioning result;
(4) and displaying the positioning result on the display control node.
10. The indoor positioning method of ultrasonic rf signal joint processing according to claim 9, wherein the positioning algorithm in step (3) determines the coordinates of the moving node by spherical intersection method, and in case of using m anchor nodes, the positions of m anchor nodes on the roof are known as coordinates (x) respectivelyn,yn,zn) Wherein n is 1,2,3,4 … m, solving for the mobile node position P coordinates (x, y, z);
the following spherical equation set is obtained according to the receiving and transmitting position and the slope distance:
obtaining the following formula by using least square method
Wherein,is an estimated quantity of x and is,is an estimated quantity of y that is,as an estimate of z, the intermediate parameter A, B is as follows:
wherein n is 1,2,3,4 … m.
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| CN104297728A (en) * | 2014-10-22 | 2015-01-21 | 成都西可科技有限公司 | Indoor ultrasonic positioning system and positioning method |
| CN105005022A (en) * | 2015-06-19 | 2015-10-28 | 上海美迪索科电子科技有限公司 | Multimode indoor positioning method and device based on radio frequency and ultrasonic wave |
| CN105353348A (en) * | 2015-06-30 | 2016-02-24 | 山东科技大学 | System and method for positioning moving target under coal mine |
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| CN105572639A (en) * | 2016-01-06 | 2016-05-11 | 南昌大学 | Indoor ultrasonic difference positioning method |
| CN105611500A (en) * | 2015-12-07 | 2016-05-25 | 苏州触达信息技术有限公司 | Positioning system and method in scheduled space |
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| CN110856104A (en) * | 2019-11-18 | 2020-02-28 | 哈尔滨工业大学 | Ultra-wideband indoor positioning method combining least square positioning and trilateral positioning |
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