CN104133191A - Indoor positioning device and method based on frequency modulated continuous waves - Google Patents
Indoor positioning device and method based on frequency modulated continuous waves Download PDFInfo
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- CN104133191A CN104133191A CN201410416498.XA CN201410416498A CN104133191A CN 104133191 A CN104133191 A CN 104133191A CN 201410416498 A CN201410416498 A CN 201410416498A CN 104133191 A CN104133191 A CN 104133191A
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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Abstract
An indoor positioning device based on frequency modulated continuous waves is composed of a master controller, at least three base stations which are not located on the same line and a plurality of tags to be positioned, wherein the controller is composed of a synchronous control module and a communication control module, the base stations can emit frequency modulated continuous waves and have communication with the tags to be positioned and the master controller, and the synchronous control module controls two of the base stations to synchronously emit signals; after receiving signals emitted by the two stations, the tags to be positioned can perform self-beat processing on the signals, and the tags to be positioned further have the digital signal processing function. Due to the device, the invention further discloses an indoor positioning method based on the frequency modulated continuous waves. According to the device and method, a frequency modulated continuous wave system is adopted, and the coordinates of the tags are determined through hyperbolic positioning; a broadcast-type system structure is adopted, the tags are passively received so that the tag power consumption can be reduced; compared with the prior art, the device and method have the advantages of being high in precision, highly dynamic and low in power consumption.
Description
Technical field
The invention belongs to electronic communication field, relate to a kind of indoor positioning device and method based on Continuous Wave with frequency modulation.
Background technology
In the indoor environment of the various complexity such as megastore, exhibition, hospital, terminal, people usually need to by mobile terminal with determine in real time accurately self, the indoor location information such as retail shop, fire exit.GPS(GPS) technology is round-the-clock because having, high precision and the feature automatically measured are widely used in outdoor positioning and navigation field, but because of satellite-signal penetration power a little less than, be difficult to penetrate reinforced concrete, and cannot be in indoor normal work.Along with the continuous rapid growth of modern society to data service and multimedia service demand, people increase day by day to location and the demand of navigation Service, especially aspect indoor navigation, indoor navigation is by accurately obtaining mobile terminal or its holder, facility and article in indoor positional information, realize the navigation to mobile terminal, as in the indoor environment of above-mentioned complexity, guiding mobile terminal holder arrives destination fast.Demand driving to indoor navigation the continuous fast development of indoor positioning technology.
Common indoor positioning technology has infrared ray indoor positioning technology, ultrasound wave indoor positioning technology, bluetooth indoor positioning technology, radio-frequency (RF) identification (RFID) indoor positioning technology and purple honeybee (ZigBee) indoor positioning technology at present.
Infrared ray indoor positioning technology receives label transmitting modulation infrared-ray by being arranged on indoor optical sensor positions, its realization simple in structure is easy, but because infrared ray only can line-of-sight propagation, and be easily subject to light in fluorescent light or room and disturb, accurately on location, having very large limitation; Ultrasound wave indoor positioning technology mainly adopts reflective telemetry, determines the position of object by triangle location algorithm, but ultrasound wave is subject to the impact of multipath effect and non-line-of-sight propagation very large, is not suitable for indoor environment; Bluetooth indoor positioning technology positions by measuring the signal intensity of label, and its advantage is that equipment volume is little, be easy to be integrated in mobile terminal device, but bluetooth devices for complicated space environment, less stable, is subject to noise large; The little interference by environment of RFID indoor positioning technology, but its positioning precision is subject to reference label position and Effects of Density, calculated amount is large, and dynamic is poor; ZigBee indoor positioning technology is a kind of emerging short distance, low rate radio network technique, its cost and technical sophistication degree are all lower, obtain large-scale application, but, ZigBee indoor positioning Technology Restriction is in 2.4GHz working frequency range and less bandwidth of operation, and be subject to the impact of multipath effect, under indoor environment complicated and changeable, positioning precision has larger limitation.
In sum, more there is the shortcoming that in target-rich environment, dynamic is low, positioning precision is not high in existing indoor positioning technology.
Summary of the invention
There is for overcoming existing indoor orientation method the technological deficiency that in target-rich environment, dynamic is low, positioning precision is not high, the invention discloses a kind of indoor positioning device and indoor orientation method based on Continuous Wave with frequency modulation.
Indoor positioning device based on Continuous Wave with frequency modulation of the present invention, by master controller, at least three of conllinear base stations and some labels to be positioned do not form, described controller is made up of synchronization control module and communication control module, described base station can be launched Continuous Wave with frequency modulation and be communicated with label to be positioned and master controller, described synchronization control module control wherein two base station synchronizations transmits, described label to be positioned can carry out from beat processing it after the signal that receives two base station transmittings, described label to be positioned also possesses digital signal processing function, synchronous transmission of signal time delay between controller and each base station equates.
Concrete, described base station is made up of base station communication module, Continuous Wave with frequency modulation generator, base station, antenna for base station, and signal flows to and is followed successively by base station communication module-Continuous Wave with frequency modulation generator-base station-antenna for base station.
Concrete, described label to be positioned is made up of label antenna, label amplifier, power splitter, frequency mixer, filter amplifier, digital signal acquiring processing module, label communication module and display, and signal flows to and is followed successively by label antenna, label amplifier, power splitter, frequency mixer, filter amplifier, digital signal acquiring processing module; Described digital signal acquiring processing module also links with label communication module and display data; Two signal output parts of described power splitter are all input to frequency mixer to carry out from beat.
Concrete, the synchronization control module in described master controller is synchronous generator or homophony continuous-wave generator frequently; Described base station is made up of base station communication module, base station Continuous Wave with frequency modulation generator, base station, antenna for base station, and base station output terminal is connected with antenna for base station;
Described base station Continuous Wave with frequency modulation generator can produce Continuous Wave with frequency modulation under the control of the synchronizing signal of master controller synchronization control module output, or receive the Continuous Wave with frequency modulation of master controller synchronization control module output, described base station can amplify the Continuous Wave with frequency modulation of base station Continuous Wave with frequency modulation generator output; Described base station communication module can with master controller in communication control module communicate
.
Preferably, between described controller and each base station, pass through wired mode signal transmission, and controller equates to the synchronous transmission of signal line transmission delay of each base station.
The invention also discloses a kind of indoor orientation method based on Continuous Wave with frequency modulation, comprise several separate label positioning steps, described separate label positioning step comprises the steps:
SS1. master controller is selected two base station A, B; Send positioning command to it, base station is set up and is communicated by letter with label to be positioned by base station communication module after receiving positioning command, and sending coding and the coordinate of two base stations to label to be positioned, label to be positioned enters accepting state after receiving base coded and coordinate information;
SS2. master controller sends synchronizing signal or Continuous Wave with frequency modulation signal to base station A, B, base station A and base station B receive after synchronizing signal or Continuous Wave with frequency modulation signal, Continuous Wave with frequency modulation generator produces synchronous Continuous Wave with frequency modulation signal, or the synchronization frequency modulation continuous wave signal that directly output receives, and launch to the interior space, through all after dates of a frequency modulation, base station A and base station B stop transmitting;
The described frequency modulation cycle
t m meet:
,
Wherein
,
r 1 ,
r 2 for base station A, B are to the distance of label to be positioned, c is the light velocity;
SS3. label to be positioned does from beat after receiving the Continuous Wave with frequency modulation signal sending from base station A, B, and by subsequent treatment, difference on the frequency is converted to range difference;
SS4. by base station A, B, any one is replaced by the not base station C of conllinear with A, B, repeating step SS1-SS3; The coordinate that utilizes two range differences obtaining in twice step SS3 and base station A, B, C, adopts hyperbolic location algorithm, obtains the coordinate information of label to be positioned.
Preferably, more than one of label to be positioned, base station is no less than three, and each base station is the Continuous Wave with frequency modulation of timesharing synchronized transmissions between two signal under the control of master controller, parallel the carrying out of positioning step of different labels to be positioned.
Concrete, the Continuous Wave with frequency modulation in described step SS2 is linear frequency modulation continuous wave or stepping Continuous Wave with frequency modulation.
Concrete, when Continuous Wave with frequency modulation in described step SS2 is linear frequency modulation continuous wave, the poor computing method of adjusting the distance in described step SS3 are: the digital signal of AD converter output is done to Fourier transform, obtain the frequency spectrum of output signal, therefrom choose the analog frequency that peak point is corresponding
f, utilize
fobtain the range difference between label to be positioned and two transmitting base stations
Δ R
In above formula,
f 0with
f 1be respectively the initial frequency of two base station transmitting synchronization frequency modulation continuous waves,
kfor chirp rate;
When Continuous Wave with frequency modulation in described step SS2 is stepping Continuous Wave with frequency modulation, the poor computing method of adjusting the distance in described step SS3 are: the digital signal of AD converter output is done to inverse discrete Fourier transform, obtain the frequency spectrum of output signal, choose the frequency that peak point is corresponding
f, utilize
fobtain the range difference between label to be positioned and two transmitting base stations
Δ R
In above formula,
f 0with
f 1be respectively the initial frequency of two base station transmitting synchronization frequency modulation continuous waves,
kfor chirp rate,
Δ ffor frequency step increment,
t s for each frequency duration.
Preferably, two base station transmitting Continuous Wave with frequency modulation initial frequency differences in described step SS4, utilize in the process of hyperbolic location algorithm, and in hyperbolic curve, filter out according to following formula the curved portion that meets this formula;
In the time transmitting as linear frequency modulation continuous wave:
Wherein
ffor the digital signal of AD converter output is after Fourier transform, spectrum peak is put corresponding analog frequency,
f 0with
f 1be respectively the initial frequency of two base station transmitting Continuous Wave with frequency modulation;
,
r 1 , R 2 for base station A, B are to the distance of label to be positioned, c is the light velocity;
kfor chirp rate;
In the time transmitting as stepping Continuous Wave with frequency modulation, screen hyperbolic curve according to following formula:
Wherein
ffor the digital signal of AD converter output is after inverse discrete Fourier transform, spectrum peak is put corresponding frequency,
t s for each frequency duration;
Filter out after hyperbolic curve, further determine that hyp focus is to determine tag coordinate.
Compared with prior art, the invention has the beneficial effects as follows: aspect algorithm design, adopt Continuous Wave with frequency modulation system, by large bandwidth, obtain high precision range difference measurement result, and launch the Continuous Wave with frequency modulation signal of different initial frequencies by base station, get rid of false tag coordinate; Aspect system, adopt the system architecture of broadcast type, the passive reception of the preferred timesharing transmitting label in base station, reduce label power consumption, in many tag environment, each label parallel receive is located simultaneously, has that data transfer rate is large, dynamic is high, label feature capacious.Therefore, existing location technology is compared in this invention, have high precision, high dynamically, the advantage of low-power consumption.
Brief description of the drawings
Fig. 1 is system architecture schematic diagram;
Fig. 2 (a) is architecture of base station schematic diagram, and Fig. 2 (b) is label construction schematic diagram, and Fig. 2 (c) is Host Controller Architecture schematic diagram;
Fig. 3 is locating area schematic diagram;
Fig. 4 is the principle schematic of the linear frequency modulation continuous wave of saw wave modulator;
Fig. 5 is that hyperbolic is located false label schematic diagram;
Fig. 6 is that false label schematic diagram is got rid of in hyperbolic location;
Fig. 7 is a kind of indoor positioning apparatus system workflow diagram corresponding to the present invention;
Fig. 8 is the one location schematic diagram of a kind of indoor positioning device embodiment 1 corresponding to the present invention;
Fig. 9 is master controller, label and the inside of base station structural drawing of a kind of indoor positioning device embodiment 1 corresponding to the present invention;
Figure 10 is the system works sequential chart of a kind of indoor positioning device embodiment 1 corresponding to the present invention;
Figure 11 is that label receives signal through spectrogram after beat, filtering;
Figure 12 is label 1 hyperbolic positioning result schematic diagram in the embodiment of the present invention 1;
Figure 13 is label 2 hyperbolic positioning result schematic diagram in the embodiment of the present invention 1;
Figure 14 is the one location schematic diagram of a kind of indoor positioning device embodiment 2 corresponding to the present invention;
Figure 15 is label 1 hyperbolic positioning result schematic diagram in the embodiment of the present invention 2;
Figure 16 is label 2 hyperbolic positioning result schematic diagram in the embodiment of the present invention 2;
Figure 17 is master controller, label and the inside of base station structural drawing of a kind of indoor positioning device embodiment 3 corresponding to the present invention;
Figure 18 is the embodiment of the present invention 3 sawtooth wave stepping Continuous Wave with frequency modulation signal schematic representations;
Figure 19 is master controller, label and the inside of base station structural drawing of a kind of indoor positioning device embodiment 4 corresponding to the present invention;
Figure 20 is the system works sequential chart of a kind of indoor positioning device embodiment 4 corresponding to the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
The present invention has designed a kind of indoor positioning device based on Continuous Wave with frequency modulation (FMCW), adopts the distance-finding method based on signal arrival time difference (TDOA), arrives the accurate location of delay inequality realize target by accurate measuring-signal.The object of the invention is to overcome the shortcoming that existing indoor positioning technology data transfer rate in target-rich environment is low, dynamic is poor, positioning precision is not high, a kind of large capacity of design, high dynamic, high-precision indoor positioning device.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
As Fig. 1, indoor positioning device of the present invention comprises:
Base station: under the control of master controller, base station is set up and communicated by letter with label, and send locating base station coding and coordinate to label, base station is to passing through day synchronous Continuous Wave with frequency modulation signal of alignment indoor positioning spatial emission.The quantity of base station and position need to be determined (in two dimensional surface, base station number is at least 3) according to space size and shape, and each architecture of base station is identical with function, and between base station, collaborative work completes positioning function mutually.
Label: label receives after the communication instruction of base station, enter accepting state, the echoed signal receiving is carried out from beat, amplify after filtering rear by ADC(A-D converter) sample, and export to digital signal processor and process, the base coded that the comprehensive base station of digital signal processor receives and transmitting base station coordinate, determine tag coordinate and show by display.
Master controller: base station is controlled to launching synchronous Continuous Wave with frequency modulation signal after communicating by letter with label foundation in control base station.This programme adopts the range finding of frequency modulation method, the transmitting of signal is positioned on the multiple base stations that are fixed on diverse location, the reception of signal is arranged on multiple labels of area to be targeted, after base station and label to be positioned are set up and are communicated by letter, base station between transmitting need to be undertaken synchronously by synchronization control module.
In the present invention, communicating by letter between base station and label preferably realized by ZigBee technology, ZigBee technology is owing to being limited to the working frequency range of 2.4GHz, bandwidth of operation is less, there is larger limitation in positioning precision, the present invention will communicate by letter and locate frequency range separately, locate by the Continuous Wave with frequency modulation of large bandwidth at high band, improve positioning precision.
Fig. 2 is the inner structure schematic diagram of all parts of indoor positioning device of the present invention.
Be the inner structure of above-mentioned base station as shown in Figure 2 (a) shows, it comprises that ZigBee communication module a-1 is as base station communication module, FMCW generator a-2, base station a-3 and transmitting antenna for base station a-4.After ZigBee communication module a-1 communicates by letter with label foundation, FMCW generator a-2 produces FMCW signal under the synchronizing signal control of master controller, after amplifying, is transmitted to the interior space by antenna for base station a-4 by amplifier a-3.
As Fig. 2 (b) is depicted as the inner structure of above-mentioned label, it comprises and receiving with label antenna b-1, label amplifier b-2, power splitter b-3, frequency mixer b-4, wave filter/amplifier b-5, digital signal acquiring and processor b-6, as ZigBee module b-7 and the display b-8 of label communication module.After ZigBee communication module b-7 communicates by letter with base station foundation, label enters accepting state, label antenna b-1 receives after echoed signal, amplify through label amplifier b-2, power splitter b-3 is divided into two-way and is input to frequency mixer b-4 and carries out from beat, signal after beat outputs to digital signal acquiring and processor b-6 after amplifying by the first filtering of wave filter/amplifier b-5 again, and digital signal acquiring and processor b-6 determine label position and show result by display b-8.
Be the inner structure of above-mentioned master controller as shown in Figure 2 (c), it comprises communication control module c-1 and synchronization control module c-2.Communication control module c-1 controls base station and sets up and communicate by letter with label, and synchronization control module c-2, by controlling each base station transmitting sequential, realizes multiple synchronization among base stations transmittings.
The present invention also discloses a kind of high precision range difference measuring method, and it is transmitted waveform that this measuring method adopts Continuous Wave with frequency modulation, improves measuring accuracy by large location bandwidth.Taking two dimensional surface locating area as example, as shown in Figure 3, now number of base stations is at least 3, and base station A, base station B and base station C are arranged in not 3 points of conllinear, arrange label 3-1 in locating area.Concrete measuring method is as follows:
SS1. master controller is selected two base station A, B; Send positioning command to it, base station is set up and is communicated by letter with label to be positioned by base station communication module after receiving positioning command, and sending coding and the coordinate of two base stations to label to be positioned, label to be positioned enters accepting state after receiving base coded and coordinate information;
SS2. master controller sends synchronizing signal or Continuous Wave with frequency modulation signal to base station A, B, base station A and base station B receive after synchronizing signal or Continuous Wave with frequency modulation signal, Continuous Wave with frequency modulation generator produces synchronous Continuous Wave with frequency modulation signal, or the synchronization frequency modulation continuous wave signal that directly output receives, and launch to the interior space, through all after dates of a frequency modulation, base station A and base station B stop transmitting;
The described frequency modulation cycle
t m meet:
,
Wherein
,
r1, R2for base station A, B are to the distance of label to be positioned, c is the light velocity;
SS3. within a frequency modulation cycle, label to be positioned does from beat after receiving the Continuous Wave with frequency modulation signal sending from base station A, B, and by subsequent treatment, difference on the frequency is converted to range difference;
SS4. by base station A, B, any one is replaced by the not base station C of conllinear with A, B, repeating step SS1-SS3; The coordinate that utilizes two range differences obtaining in twice step SS3 and base station A, B, C, adopts hyperbolic location algorithm, obtains the coordinate information of label to be positioned.
Taking the linear frequency modulation continuous wave of saw wave modulator as example, Figure 4 shows that sawtooth wave Continuous Wave with frequency modulation base station transmit signals and label receive signal waveform schematic diagram, suppose that two base station transmit signals parameters are identical, be that initial frequency, modulation band-width, modulation period are all identical, its frequency linear change in time, Modulation Types is sawtooth wave, and in Fig. 4, dotted line represents the base station transmit signals that label receives.Suppose that be modulation period
t m , the carrier wave initial frequency that transmits is
f 0, modulation band-width is
Δ f,
cfor the light velocity, thus the frequency range of signal be [
f 0,
f 0 + Δ f], be two groups of relative time delays that transmit that label receives
τ r2
-τ r1
.
If the instantaneous frequency that transmits of base station is
f t , the signal transient frequency that label receives any two base stations is
f r1
,
f r2
, as shown in Figure 4, label receives the time delay that signal frequency is emission signal frequency, establishes time delay and is respectively
τ r1
with
τ r2
, the synchronous error of base station and label is
t s , suppose that the distance of two base stations of tag distances is respectively
r 1with
r 2, have:
（1）
The reception signal frequency of the transmission frequency of base station and label has following expression:
（2）
（3）
（4）
Can be found out by (3) (4) formula, the signal that label is received does from beat and can obtain difference frequency term frequency
f b ,
（5）
The range difference that can be obtained label and two transmitting base stations by (5) formula is:
（6）
Can be found out the reception signal extraction difference frequency term after mixing by (6) formula, can obtain the range difference size information between label and base station, and by solving the range difference information of label and transmitting base station, eliminate the synchronous error of base station and label to the impact of direct range finding.
After utilizing base station A, B and (6) formula to draw range difference, change one of them base station, then draw a range difference, can determine according to hyperbolic localization method the coordinate of label to be positioned.
As shown in Figure 4, in real work, for ensureing that completing a range difference within each modulation period measures, and also needs to meet the following conditions:
(8)
A kind of indoor positioning device of the present invention's design, the Continuous Wave with frequency modulation signal of launching between each locating base station has different frequency modulation initial frequencies.
Suppose base station A transmit into
s at (t), base station B transmit into
s bt (t), the expression formula transmitting is:
(9)
(10)
Wherein
a at ,
a bt be respectively the amplitude that base station A, B transmit, the A initial frequency that transmits in base station is
f 0, the B initial frequency that transmits in base station is
f 1,
k=
bs/
t m for chirp rate,
φ 0for initial phase,
t m for modulation period
b s for modulating bandwidth.
Label receives the FMCW signal of base station A, B synchronized transmissions, and its time delay relatively transmitting is respectively
τ r1
with
τ r2
, receive signal
s r (t)expression formula be:
(11)
A
ar, A
brrepresent that respectively label receives the FMCW signal amplitude of base station A, B transmitting.
To receive signal
s r (t)be divided into two-way through power splitter and be input to frequency mixer and do from beat, frequency mixer Output rusults is as follows (to be supposed
a ar =A br =1,
φ 0 =0):
(12)
Observing above formula can find out, mixer output signal comprise receive signal from difference frequency item, by frequency mixer output, sample by outputing to ADC after band-pass filter, signal after sampling is carried out to Fourier transform, and the analog frequency size that in gained spectrogram, peak point is corresponding is:
(13)
Because
f 0with
f 1known, and arrange
f 0<
f 1, put corresponding analog frequency size by spectrum peak, there is following relational expression:
(14)
Can judge tag distances base station A, B time delay size by above formula, thereby determine
r 1with
r 2between magnitude relationship, and range difference is:
(15)
The indoor positioning device of the present invention's design adopts hyperbolic location to determine tag coordinate information, if only can not unique definite tag coordinate apart from the range difference size information of base station by label, schematic diagram as shown in Figure 5, the focus of hyperbolic curve taking two groups of base stations as focus in locating area is not unique, causes false label to occur.Can judge the magnitude relationship between the distance of two transmitting base stations of tag distances by (14) formula, thereby choose the single hyperbolic location of carrying out in every group of hyperbolic curve, reach and get rid of false tag coordinate, obtain the effect of true tag coordinate.After getting rid of false tag coordinate, locate schematic diagram as shown in Figure 6.
In the time that target area has multiple label, each base station is the Continuous Wave with frequency modulation of timesharing synchronized transmissions between two signal under the control of controller, repeating step SS1-SS3, and multiple labels receive simultaneously, processing signals, and showing in real time each label position information, working-flow figure is as shown in Figure 7.
In the said system structure of indoor positioning device of the present invention, the Continuous Wave with frequency modulation signal of base station transmitting can adopt linear frequency modulation continuous wave signal, also can adopt stepping Continuous Wave with frequency modulation signal;
In the system architecture of indoor positioning device of the present invention, the production method of synchronous FMCW be master controller to base station to sending synchronizing signal, after same delay, transfer to base station, base station produces also launches synchronous FMCW to the interior space; Meanwhile, the generation of synchronous FMCW also can adopt following system architecture: the inner FMCW that produces of master controller, after same delay, transfer to base station pair, and backward interior space transmitting, to receiving FMCW, is amplified in base station.Because each base station transmitting Continuous Wave with frequency modulation needs strict synchronous, therefore while receiving master controller signal, the signal lag that master controller arrives each base station should equate, preferably can adopt the mode of wire transmission signal, not only antijamming capability is strong, and be beneficial to control time delay, and for example select isometric similar wire, signal lag can be realized equal easily.
For making the present invention easier to understand, below in conjunction with the drawings and specific embodiments, principle of the present invention is further elaborated
Embodiment 1
Fig. 8 is a kind of implementation of indoor positioning device of the present invention.Transmitting of the present embodiment adopts sawtooth wave Continuous Wave with frequency modulation, and label number is 2, and base station number is 3.It is the square room of 100 meters that locating area is set to a length of side, taking the position of base station A as initial point is set up coordinate system, there is the coordinate of base station A, base station B and base station C to be respectively (0,0), (100,0), (100,100), suppose that label 1 and label 2 coordinates are respectively (30,20), (60,70).As shown in Figure 1, as shown in Figure 9, master controller comprises communication control module c-1, synchronization control module c-2 to the high precision indoor locating system general structure of the present embodiment design for master controller, label and architecture of base station; Base station comprises ZigBee communication module s-1, microprocessor (MCU) s-2, sawtooth wave FMCW generator s-3, amplifier s-4 and Anneta module s-5; Label comprises display t-10, ZigBee communication module t-9, MCUt-8, digital signal processor t-7, ADCt-6, filtering/amplifier t-5, frequency mixer t-4, power splitter t-3, amplifier t-2 and Anneta module t-1.
In this embodiment, the communication control module c-1 of master controller sends positioning command to base station MCUs-2, base station MCUs-2 sends base coded and coordinate by ZigBee communication module s-1 to label 1, label 2, ZigBee communication module t-9 in label 1, label 2 receives base coded and coordinate and notifies MCUt-8 to enter acquisition state, and the ADCt-6 in MCUt-8 abstract factory starts to gather.Simultaneously, the synchronization control module c-2 of master controller is to MCUs-2 output synchronizing signal in base station A, base station B, MCUs-2 in each base station carries out time synchronized one time after receiving the synchronizing signal of controller, trigger FMCW generator s-3 simultaneously and produce linear FM signal, after amplifier s-4 amplifies, launch by antenna s-5.Through all after dates of a frequency modulation, base station A and base station B stop transmitting, and master controller sends positioning command and synchronizing signal to base station A and base station C, ensure that base station A, B, C replace synchronized transmissions between two.
Within each frequency modulation cycle length, the antenna t-1 of two labels all receives the LFMCW signal of two base station transmittings, output to frequency mixer t-4 and carry out from beat through amplifier t-2 amplification, power splitter t-3, after after filtering/amplifier t-5 processes, input ADCt-6 samples, signal after sampling outputs to digital signal processor t-7 and calculates range difference, and obtaining this tag coordinate information by range difference information operating hyperbolic location, the coordinate information obtaining shows by display t-10.System works sequential chart as shown in figure 10.
If base station A transmits modulation, initial frequency is
f 0=10.525GHz, base station B initial frequency is
f 1=10.526GHz, base station C initial frequency is
f 2=10.527GHz, modulating bandwidth is
b=1.5GHz, be modulation period
t m =2ms, signal to noise ratio (S/N ratio)-10dB, sampling rate
f s =6.75MHz.Suppose within first frequency modulation cycle, label 1 receives the signal of base station A, B transmitting, sample through be input to ADC after beat, filter and amplification, signal after sampling can obtain spectrogram by Fourier transform, as shown in figure 11, can be obtained by spectrogram, spectrum peak appears at frequency |
f|=908000Hz, can be obtained by formula (15), label 1 with the range difference of base station A, B is:
(16)
The actual distance of label 1 and base station A, B is poor is 36.75m, and calculated value conforms to theoretical value.
By (14) Shi Ke get, label 1 is less than apart from base station B distance apart from base station A distance.
In like manner can obtain, label 1 is 33.40m with the calculating range difference of base station B, C, and its theoretical value is 33.50m, and label 1 is less than apart from the distance of base station C apart from the distance of base station B;
Label 2 is 11.60m with the calculating range difference of base station A, B, and its theoretical value is 11.57m, and label 2 is less than apart from base station A distance apart from base station B distance;
Label 2 is 30.60m with the calculating range difference of base station B, C, and its theoretical value is 30.62m, and label 2 is less than apart from base station B distance apart from base station C distance;
According to above range difference information, the coordinate that uses hyperbolic location can obtain label 1, label 2 is (30.30,20.19), (60.02,69.98), and Figure 12, Figure 13 are respectively the location simulation result of label 1, label 2.
Embodiment 2
Figure 14 is the another kind of implementation of indoor positioning device of the present invention.In the present embodiment, transmitting of each base station still adopts sawtooth wave linear frequency modulation continuous wave system, and each base station transmitting Continuous Wave with frequency modulation signal parameter is identical as different from Example 1, and the false tag coordinate of generation can be got rid of by increasing number of base stations.Still taking a length of side as the square room locating area of 100 meters is as example, label number is 2, base station number is 4, and the coordinate of base station A, base station B, base station C and base station D is respectively (0,0), (100,0), (100,100), (0,100), label 1 and label 2 coordinates are respectively (30,20), (60,70).Label and architecture of base station are identical with embodiment 1.
This embodiment workflow is identical with embodiment 1, establishes the modulation initial frequency that transmits to be
f 0=
f 1=
f 2=10.525GHz, modulating bandwidth is
b=1.5GHz, be modulation period
t m =2ms, signal to noise ratio (S/N ratio)-10dB, sampling rate
f s =750kHz.Suppose within first frequency modulation cycle, label 1 receives the signal of base station A, B transmitting, samples through be input to ADC after beat, filter and amplification, and the signal after sampling can obtain spectrogram by Fourier transform, by the spectrum peak frequency of occurrences
f=92000Hz, can be obtained by formula (15), and label 1 with the range difference of base station A, B is:
(17)
The actual distance of label 1 and base station A, B is poor is 36.75m, and calculated value conforms to theoretical value.
In like manner can obtain, label 1 is 33.60m with the calculating range difference of base station B, C, and its theoretical value is 33.50m;
Label 1 is 70.20m with the calculating range difference of base station A, C, and its theoretical value is 70.25m;
Label 1 is 49.40m with the calculating range difference of base station A, D, and its theoretical value is 49.38m;
Label 2 is 11.60m with the calculating range difference of base station A, B, and its theoretical value is 11.57m;
Label 2 is 30.60m with the calculating range difference of base station B, C, and its theoretical value is 30.62m;
Label 2 is 42.20m with the calculating range difference of base station A, C, and its theoretical value is 42.20m;
Label 2 is 25.20m with the calculating range difference of base station A, D, and its theoretical value is 25.11m.
According to above range difference information, the coordinate that uses the hyperbolic position of many groups can obtain label 1, label 2 is (30.04,19.99), (59.84,70.04), as shown in Figure 15, Figure 16.
Embodiment 3
The present embodiment is the another kind of implementation of a kind of indoor positioning device of the present invention.The signal processing of the present embodiment and control section are all identical with embodiment 1, and different is that the present embodiment adopts sawtooth wave stepping Continuous Wave with frequency modulation (SFCW) signal.In this embodiment, as shown in figure 17, master controller comprises communication control module c-1 and synchronization control module c-2 for master controller, label and architecture of base station; Base station comprises ZigBee communication module s-1, MCUs-2, Direct Digital Frequency Synthesizers (DDS) s-3, phaselocked loop (PLL) s-4, frequency multiplier s-5, amplifier s-6 and Anneta module s-7; Label comprises ZigBee communication module t-9, MCUt-8, digital signal processor t-7, ADCt-6, filtering/amplifier t-5, frequency mixer t-4, power splitter t-3, amplifier t-2 and Anneta module t-1.
The base station radiating portion specific implementation method different from embodiment 1 is as follows:
Base station transmitting sawtooth wave SFCW signal, the generation of sawtooth wave SFCW signal adopts the method for DDSs-3 excitation PLLs-4, time write phase-locked control word to PLLs-4 by MCUs-2 in start, the frequency control word that after this MCUs-2 constantly changes DDSs-3 reaches the object of frequency hopping.The sawtooth wave SFCW signal of above-mentioned generation obtains carrier frequency after frequency multiplier s-5
f 0transmit, frequency multiplier s-5 output is launched by antenna s-7 after amplifier s-6 amplifies.
Figure 18 is sawtooth wave SFCW signal schematic representation, and as shown in the figure, step frequency signal initial frequency is
f 0, frequency step increment is
Δ f, frequency step number is
ntherefore signal bandwidth is
b=(N-1
) Δ f, signal frequency range be [
f 0,
f 0+ (
n-1)
Δ f], suppose
ithe start-phase that individual frequency transmits is
φ i , amplitude is
a i , each frequency duration is
t s , sawtooth wave SFCW signal can be considered as to dutycycle and be 1 frequency-stepped pulse signal, therefore can obtain
iindividual transponder pulse signal expression is:
(18)
Wherein, rect (
t) be rectangular function:
(19)
Label antenna t-1 receives the sawtooth wave SFCW signal of two base station synchronization transmittings, supposes that its initial frequency is respectively
f 0with
f 1, the time delay relatively transmitting is respectively
τ r1
with
τ r2
, amplitude is respectively
a i1 with
a i2 ; Receive signal
s r (t)expression formula be:
(20)
To receive signal
s ri (t)after amplifier t-2 amplifies, be divided into two-way through power splitter t-3 and be input to frequency mixer t-4 and do from beat, the signal after beat, after the first filtering of wave filter/amplifier t-5 is amplified again, can obtain that difference frequency term is as follows (supposes initial term
φ i =0
,, after filtering, signal amplitude is
b i ):
(21)
Signal after filter and amplification, after ADCt-6 sampling, is input to digital signal processor t-7 and carries out inverse discrete Fourier transform (IDFT), the frequency that spectrum peak is corresponding
fbe difference frequency term frequency, due to
f 0,
f 1known, and
f 0<
f 1, through type (22) can judge that tag distances transmitting base station is apart from magnitude relationship:
(22)
The range difference of tag distances base station
Δ Rthere is following expression:
(23)
The comprehensive range difference obtaining of digital signal processor t-7 is located and is determined tag coordinate by hyperbolic, and is shown by display t-10.
If base station A transmits modulation, initial frequency is
f 0=10.525GHz, base station B initial frequency is
f 1=10.526GHz, base station C initial frequency is
f 2=10.527GHz, frequency step increment
Δ f=750kHz, frequency step number is
n=2048, therefore obtain signal bandwidth and be
b=(N-1
) Δ f=1.54GHz, each frequency duration
t s =1 μ s, signal to noise ratio (S/N ratio) is 0dB, and ADC samples to filtered signal, and sampling interval is
t s be that each frequency step is adopted a point, corresponding sampling rate is
f s =1MHz.
Label and arrangement of base stations are with embodiment 1, and the coordinate that uses hyperbolic location can obtain label 1, label 2 is respectively (29.98,20.01), (59.99,70.02).
Embodiment 4
The present embodiment is the another kind of implementation of indoor positioning device of the present invention, different from front embodiment is, in the present embodiment, synchronous FMCW signal is in the inner generation of master controller, the FMCW signal that master controller produces transfers to base station through wire message way, and a day alignment interior space transmitting is passed through in base station after signal is amplified.In the present embodiment, as shown in figure 19, master controller comprises communication control module c-1, FMCW generator c-2 for master controller, base station and label construction; Base station comprises ZigBee communication module s-1, microprocessor (MCU) s-2, amplifier s-3 and Anneta module s-4; Label comprises ZigBee communication module t-9, MCUt-8, digital signal processor t-7, display t-10, ADC, filtering/amplifier t-5, frequency mixer t-4, power splitter t-3, amplifier t-2 and Anneta module t-1.
In this embodiment, signal processing flow is identical with front embodiment, no longer describes in detail.The synchronous FMCW signal generating method embodiment different from front embodiment is as follows:
The communication control module c-1 of master controller sends positioning command to base station MCUs-2, base station MCUs-2 sends base coded and coordinate by ZigBee communication module s-1 to label, ZigBee communication module t-9 in label receives base coded and notifies MCUt-8 to enter acquisition state, and the ADCt-6 in MCUt-8 abstract factory starts to gather.Meanwhile, the FMCW generator c-2 of master controller produce FMCW signal and to base station to transmission, each base station receives the FMCW signal that master controller produces, and after amplifier s-3 amplifies, launches by antenna s-4.Entire system working timing figure as shown in figure 20.
Indoor positioning device of the present invention, adopt the system architecture of broadcast type, base station timesharing transmitting, the label passive reception that walks abreast, compare existing indoor positioning technology, not only greatly reduce label power consumption, improved positioning precision, and in many tag environment, there is the advantage that data transfer rate is large, dynamic is high.
The software module that the method that in the present invention, the disclosed embodiments are described or the step of algorithm can directly use hardware, processor to carry out, or the combination of the two is implemented.Software module can be placed in the storage medium of any other form known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
Previously described is each preferred embodiment of the present invention, preferred implementation in each preferred embodiment is if not obviously contradictory or taking a certain preferred implementation as prerequisite, each preferred implementation arbitrarily stack combinations is used, design parameter in described embodiment and embodiment is only the invention proof procedure for clear statement inventor, not in order to limit scope of patent protection of the present invention, scope of patent protection of the present invention is still as the criterion with its claims, the equivalent structure that every utilization instructions of the present invention and accompanying drawing content are done changes, in like manner all should be included in protection scope of the present invention.
Claims (10)
1. the indoor positioning device based on Continuous Wave with frequency modulation, it is characterized in that, by master controller, at least three of conllinear base stations and some labels to be positioned do not form, described controller is made up of synchronization control module and communication control module, described base station can be launched Continuous Wave with frequency modulation and be communicated with label to be positioned and master controller, described synchronization control module control wherein two base station synchronizations transmits, described label to be positioned can carry out from beat processing it after the signal that receives two base station transmittings, described label to be positioned also possesses digital signal processing function, synchronous transmission of signal time delay between controller and each base station equates.
2. the indoor positioning device based on Continuous Wave with frequency modulation as claimed in claim 1, it is characterized in that, described base station is made up of base station communication module, Continuous Wave with frequency modulation generator, base station, antenna for base station, and signal flows to and is followed successively by base station communication module-Continuous Wave with frequency modulation generator-base station-antenna for base station.
3. the indoor positioning device based on Continuous Wave with frequency modulation as claimed in claim 1, it is characterized in that, described label to be positioned is made up of label antenna, label amplifier, power splitter, frequency mixer, filter amplifier, digital signal acquiring processing module, label communication module and display, and signal flows to and is followed successively by label antenna, label amplifier, power splitter, frequency mixer, filter amplifier, digital signal acquiring processing module; Described digital signal acquiring processing module also links with label communication module and display data; Two signal output parts of described power splitter are all input to frequency mixer to carry out from beat.
4. the indoor positioning device based on Continuous Wave with frequency modulation as claimed in claim 1, is characterized in that, the synchronization control module in described master controller is synchronous generator or homophony continuous-wave generator frequently; Described base station is made up of base station communication module, base station Continuous Wave with frequency modulation generator, base station, antenna for base station, and base station output terminal is connected with antenna for base station;
Described base station Continuous Wave with frequency modulation generator can produce Continuous Wave with frequency modulation under the control of the synchronizing signal of master controller synchronization control module output, or receive the Continuous Wave with frequency modulation of master controller synchronization control module output, described base station can amplify the Continuous Wave with frequency modulation of base station Continuous Wave with frequency modulation generator output; Described base station communication module can with master controller in communication control module communicate
.
5. the indoor positioning device based on Continuous Wave with frequency modulation as claimed in claim 1, is characterized in that, between described controller and each base station, by wired mode signal transmission, and controller equates to the synchronous transmission of signal line transmission delay of each base station.
6. the indoor orientation method based on Continuous Wave with frequency modulation, is characterized in that, comprises several separate label positioning steps, and described separate label positioning step comprises the steps:
SS1. master controller is selected two base station A, B; Send positioning command to it, base station is set up and is communicated by letter with label to be positioned by base station communication module after receiving positioning command, and sending coding and the coordinate of two base stations to label to be positioned, label to be positioned enters accepting state after receiving base coded and coordinate information;
SS2. master controller sends synchronizing signal or Continuous Wave with frequency modulation signal to base station A, B, base station A and base station B receive after synchronizing signal or Continuous Wave with frequency modulation signal, Continuous Wave with frequency modulation generator produces synchronous Continuous Wave with frequency modulation signal, or the synchronization frequency modulation continuous wave signal that directly output receives, and launch to the interior space, through all after dates of a frequency modulation, base station A and base station B stop transmitting;
The described frequency modulation cycle
t m meet:
,
Wherein
,
r 1 ,
r 2 for base station A, B are to the distance of label to be positioned, c is the light velocity;
SS3. label to be positioned does from beat after receiving the Continuous Wave with frequency modulation signal sending from base station A, B, and by subsequent treatment, difference on the frequency is converted to range difference;
SS4. by base station A, B, any one is replaced by the not base station C of conllinear with A, B, repeating step SS1-SS3; The coordinate that utilizes two range differences obtaining in twice step SS3 and base station A, B, C, adopts hyperbolic location algorithm, obtains the coordinate information of label to be positioned.
7. the indoor orientation method based on Continuous Wave with frequency modulation as claimed in claim 6, it is characterized in that, more than one of label to be positioned, base station is no less than three, each base station is the Continuous Wave with frequency modulation of timesharing synchronized transmissions between two signal under the control of master controller, parallel the carrying out of positioning step of different labels to be positioned.
As claimed in claim 6 based on Continuous Wave with frequency modulation indoor orientation method, it is characterized in that, the Continuous Wave with frequency modulation in described step SS2 is linear frequency modulation continuous wave or stepping Continuous Wave with frequency modulation.
As claimed in claim 6 based on Continuous Wave with frequency modulation indoor orientation method, it is characterized in that,
When Continuous Wave with frequency modulation in described step SS2 is linear frequency modulation continuous wave, the poor computing method of adjusting the distance in described step SS3 are: the digital signal of AD converter output is done to Fourier transform, obtain the frequency spectrum of output signal, therefrom choose the analog frequency that peak point is corresponding
f, utilize
fobtain the range difference between label to be positioned and two transmitting base stations
Δ R
In above formula,
f 0with
f 1be respectively the initial frequency of two base station transmitting synchronization frequency modulation continuous waves,
kfor chirp rate;
When Continuous Wave with frequency modulation in described step SS2 is stepping Continuous Wave with frequency modulation, the poor computing method of adjusting the distance in described step SS3 are: the digital signal of AD converter output is done to inverse discrete Fourier transform, obtain the frequency spectrum of output signal, choose the frequency that peak point is corresponding
f, utilize
fobtain the range difference between label to be positioned and two transmitting base stations
Δ R
In above formula,
f 0with
f 1be respectively the initial frequency of two base station transmitting synchronization frequency modulation continuous waves,
kfor chirp rate,
Δ ffor frequency step increment,
t s for each frequency duration.
10. the indoor orientation method based on Continuous Wave with frequency modulation as claimed in claim 6, it is characterized in that, two base station transmitting Continuous Wave with frequency modulation initial frequency differences in described step SS4, utilize in the process of hyperbolic location algorithm, and in hyperbolic curve, filter out according to following formula the curved portion that meets this formula;
In the time transmitting as linear frequency modulation continuous wave:
Wherein
ffor the digital signal of AD converter output is after Fourier transform, spectrum peak is put corresponding analog frequency,
f 0with
f 1be respectively the initial frequency of two base station transmitting Continuous Wave with frequency modulation;
,
r 1 , R 2 for base station A, B are to the distance of label to be positioned, c is the light velocity;
kfor chirp rate;
In the time transmitting as stepping Continuous Wave with frequency modulation, screen hyperbolic curve according to following formula:
Wherein
ffor the digital signal of AD converter output is after inverse discrete Fourier transform, spectrum peak is put corresponding frequency,
t s for each frequency duration;
Filter out after hyperbolic curve, further determine that hyp focus is to determine tag coordinate.
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