CN104202063B - Communication and location integrated device - Google Patents

Abstract

The present invention provides an integrated device for communication and positioning, including: a receiving module for receiving magnetic signals and converting the magnetic signals into communication data and positioning information; and a transmitting module for converting the communication data and positioning signals into magnetic signals , and send magnetic signals to communicate and locate with other integrated communication and positioning devices. According to the communication and positioning integrated device of the embodiment of the present invention, simultaneous positioning and communication are realized on one link, and the application range of the terminal is expanded. By converting the electrical signal into a magnetic signal, and using the magnetic signal to communicate with other positioning The integrated device performs communication and positioning, thereby reducing signal attenuation of communication signals under conditions such as underwater or underground, and ensuring communication quality.

Description

Communication and positioning integrated device

technical field

The invention relates to the technical field of communication, in particular to a communication and positioning integrated device.

Background technique

Most of the existing wireless communication uses radio signals for communication, that is, the communication data is modulated onto radio waves, and communicates with other integrated communication and positioning devices, base stations or satellites by receiving or sending radio waves.

However, the attenuation of radio waves in solid media or liquids such as air, water, and rocks is very different, and the propagation in these solid media or liquid media is very unstable. Due to the particularity of the medium or the environment, the signal instability and failure to communicate may directly affect the safety of the user's life.

Contents of the invention

The object of the present invention is to solve at least one of the above-mentioned technical drawbacks.

Therefore, the present invention needs to provide an integrated device for communication and positioning.

In view of this, an embodiment of the present invention proposes an integrated device for communication and positioning, including: a receiving module for receiving magnetic signals and converting the magnetic signals into communication data and positioning information; and a transmitting module for transmitting The communication data and the positioning signal are converted into magnetic signals, and the magnetic signals are sent for communication and positioning with other communication and positioning integrated devices.

The communication and positioning integrated device according to the embodiment of the present invention realizes simultaneous positioning and communication on one link, and expands the application range of the device. By converting electrical signals into magnetic signals, the magnetic signals are integrated with other communication and positioning Communication and positioning can be carried out by the intelligent device, thereby reducing the signal attenuation of the communication signal under the circumstances of underwater or underground, and ensuring the communication quality.

In one embodiment of the present invention, the receiving module specifically includes: a receiving unit, configured to receive the magnetic signal and convert it into an analog electrical signal; an amplifier, configured to amplify the analog electrical signal; an analog-to-digital converter , for performing analog-to-digital conversion on the amplified analog electrical signal to obtain a digital signal; and a demodulation unit, for demodulating the converted digital signal into communication data and the positioning information.

In an embodiment of the present invention, the transmitting module specifically includes: a modulation unit, configured to modulate the communication data and the positioning signal into digital signals; a digital-to-analog converter, configured to perform digital processing on the digital signals and a power amplifier for amplifying the analog electric signal; and a transmitting unit for converting the amplified analog electric signal into a magnetic signal and transmitting it.

In an embodiment of the present invention, the receiving unit includes a three-axis coil, and the magnetic signal is received by the three-axis coil.

In an embodiment of the present invention, the transmitting unit includes a three-axis coil, and the magnetic signal is transmitted through the three-axis coil.

In one embodiment of the present invention, the transmitting module further includes: a positioning signal generating unit, the positioning signal generated by the positioning signal generating unit is amplified by a power amplifier, and together with the amplified analog electrical signal is generated by the The transmitting unit converts to a magnetic signal and transmits it.

In an embodiment of the present invention, the receiving module further includes: a positioning calculation unit, configured to extract a positioning signal from the amplified analog electrical signal, and obtain the communication and positioning integration of the transmitting party according to the positioning signal. The position parameter and the attitude parameter of the device, and determine the position of the communication and positioning integrated device of the transmitting party according to the position parameter and the attitude parameter.

In an embodiment of the present invention, the receiving module further includes: a signal separation unit, configured to separate the analog electrical signal according to the positioning signal, so as to restore the received analog signal to the three coils at the transmitting end signals transmitted separately.

In one embodiment of the present invention, the position parameter and the attitude parameter are obtained by the following formula, the formula is,

Wherein, [B _x By _y B _z ] represents the magnetic field distribution when the three-axis coil of the communication and positioning integrated device of the transmitting party transmits signals, and [B _x' By _y' B _z' ] is the receiving module at x' The magnetic field distribution received by the y'z' coordinate system, x, y, z are the position parameters, is the attitude parameter.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein,

FIG. 1 is a structural block diagram of an integrated device for communication and positioning according to an embodiment of the present invention;

Fig. 2 is a structural block diagram of a receiving module according to an embodiment of the present invention;

Fig. 3 is the signal data transmitted by the transmitting module according to one embodiment of the present invention;

4 is a schematic diagram of a three-axis coil according to an embodiment of the present invention;

FIG. 5 is a structural block diagram of a transmitting module according to an embodiment of the present invention;

FIG. 6 is a schematic simulation diagram of two integrated communication and positioning devices according to an embodiment of the present invention;

7 is a schematic diagram of positioning signals and communication signals transmitted by an underground terminal according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a comparison between distance measurement accuracy and theoretical accuracy according to an embodiment of the present invention;

Fig. 9 is a schematic diagram of errors of distance angle measurement accuracy according to an embodiment of the present invention;

Figure 10 is a schematic diagram of a bit error rate according to an embodiment of the present invention; and

Fig. 11 is a schematic diagram of channel capacity and transmission rate according to an embodiment of the present invention.

detailed description

Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Fig. 1 is a structural block diagram of an integrated device for communication and positioning according to an embodiment of the present invention. As shown in FIG. 1 , an integrated communication and positioning device 100 according to an embodiment of the present invention includes: a receiving module 110 and a transmitting module 120 .

Specifically, the receiving module 110 is configured to receive magnetic signals and convert the magnetic signals into communication data and positioning information. The transmitting module 120 is used for converting communication data and positioning signals into magnetic signals, and sending the magnetic signals for communication and positioning with other integrated communication and positioning devices.

Fig. 2 is a structural block diagram of a receiving module according to an embodiment of the present invention. As shown in FIG. 2 , the receiving module 110 includes: a receiving unit 111 , an amplifier 112 , an analog-to-digital converter 113 , a demodulating unit 114 , and a location solving unit 115 .

Specifically, the receiving unit 111 is used to receive the magnetic signal and convert it into an analog electrical signal. The amplifier 112 is used to amplify the analog electrical signal. The analog-to-digital converter 113 is used for performing analog-to-digital conversion on the amplified analog electrical signal to obtain a digital signal. The demodulation unit 114 is used to demodulate the converted digital signal into communication data and the positioning information. The positioning calculation unit 115 is used to extract the positioning signal from the amplified analog electrical signal, obtain the position parameters and attitude parameters of the transmitting party's communication and positioning integrated device according to the positioning signal, and determine the transmitting party's communication and positioning integrated device according to the position parameters and attitude parameters. location of the device. The receiving module 110 may further include: a signal separation unit, configured to separate the analog electrical signal according to the positioning signal, so as to restore the received analog signal to the signals respectively transmitted by the three coils at the transmitting end.

Fig. 3 is signal data transmitted by a transmitting module according to an embodiment of the present invention. As shown in Figure 3, the signal data includes three parts, consisting of frame header, positioning signal and communication signal. The frame header is used for synchronization. During positioning, the three coils can send specific signals in time division to meet the needs of positioning algorithms and large-capacity communication. During communication, the three coils can send different signals at the same time. The receiving module 110 uses positioning algorithms to obtain position and attitude information, separates the signals transmitted by the three-axis coils, and uses space multiplexing to improve communication capacity. The three-axis coil can also transmit the same signal at the same time to produce a diversity effect similar to that in mobile communication, and at the same time prevent the problem that the received magnetic field strength may weaken when the relative position of the receiving coil changes.

In one embodiment of the present invention, the receiving unit 111 includes a three-axis coil through which the magnetic signal is received. The three-axis coil includes three mutually perpendicular coils, and its structure is shown in FIG. 4 . During positioning, the three coils sequentially emit magnetic signals. The modulation mode of the modulation unit 111 includes but not limited to pulse position modulation such as PPM or phase modulation such as BPSK, QPSK or 8PSK.

Fig. 5 is a structural block diagram of a transmitting module according to an embodiment of the present invention. As shown in FIG. 5 , the transmitting module 120 includes: a modulating unit 121 , a digital-to-analog converter 122 , a power amplifier 123 , a transmitting unit 124 and a positioning signal generating unit 125 .

Specifically, the modulating unit 121 is configured to modulate the communication data and the positioning signal into digital signals. The digital-to-analog converter 122 is used for performing digital-to-analog conversion on digital signals to obtain analog electrical signals. The power amplifier 123 is used to amplify the analog electrical signal. The transmitting unit 124 is used for converting the amplified analog electric signal into a magnetic signal and transmitting it. Positioning signal generating unit 125 The positioning signal generated by the positioning signal generating unit is amplified by the power amplifier 123 , converted into a magnetic signal by the transmitting unit 124 together with the amplified analog electrical signal and transmitted.

In one embodiment of the present invention, the transmitting unit 124 includes a three-axis coil, and the magnetic signal is transmitted through the three-axis coil. The modulation unit 121 modulates the communication data and the positioning signal by means of pulse position modulation or phase modulation. The magnetic signal emitted by each coil in the far field can be regarded as a field formed by a magnetic dipole. With the transmitting coil as the origin, the magnetic field distribution of the three coils when the magnetic signal is emitted can be expressed as:

Among them, μ is the magnetic permeability, m _x , my _y , m _z are the magnetic moments, ρ is the straight-line distance between the transmitting units of the device, e _x , e _y , e _z are unit vectors along the xyz axis of the transmitting coil, and x, y, z are position parameters. The signal received in the x'y'z' coordinate system where the receiving coil is:

Among them, [B _x B _y B _z ] represents the magnetic field distribution when the three-axis coil of the communication and positioning integrated device of the transmitting party transmits signals, and [B _x' B _y' B _z' ] is the receiving module at x'y'z' The magnetic field distribution received by the coordinate system, x, y, z are position parameters, is the attitude parameter.

Fig. 6 is a schematic diagram of simulation of two integrated communication and positioning devices according to an embodiment of the present invention. As shown in Figure 6, with the diameter mouth as the origin, the surface terminal coordinates are (0,50,0), the vertical well coincides with the z-axis, and the depth is 50 meters. The underground terminal is in the horizontal well connected to the vertical well, and the measurement results and communication conditions of the ground terminal are simulated when the underground terminal is in different positions of the horizontal well to evaluate the positioning accuracy and communication quality of the integrated communication and positioning device.

Fig. 7 is a schematic diagram of positioning signals and communication signals transmitted by an underground terminal according to an embodiment of the present invention. As shown in Figure 7, the three-axis coil of the underground terminal sequentially transmits pulse signals of the same amplitude and duration, and the receiving module of the ground terminal receives a 3×3 signal matrix. According to this matrix, the position parameters of the underground terminal can be obtained. Ground terminals and underground terminals can be simulated by means of pulse position modulation BPSK, QPSK and 8PSK such as PPM. The schematic diagrams of the simulation results of the environment shown in Figure 6 are shown in Figures 8 and 9. The Cramereau lower bound is the theoretical minimum value of the unbiased estimated mean square error. It can be seen from Figure 8 that the ranging error is very close to the theoretical lower bound , the distance error obtained by this measurement method is less than 0.1 meters (within 500 meters), and has reached the engineering requirements. It can be seen from Figure 9 that the measurement accuracy of the angle can reach 1 degree (within 500 meters), which meets the engineering requirements.

FIG. 10 is a schematic diagram of a bit error rate according to an embodiment of the present invention. Fig. 11 is a schematic diagram of channel capacity and transmission rate according to an embodiment of the present invention. It can be seen from Fig. 10 that if BPSK is used for direct data transmission, the bit error rate is lower than 10 ^-5 within 1800 meters. When high-order modulation methods such as QPSK and 8PSK are used, the bit error rate will increase and the communication distance will decrease. However, the bit error rates of the above modulation methods within 1000 meters are all lower than 10 ^-5 , which means that within this communication distance, the bit error rate is satisfied. Data transmission quality requirements. On the other hand, using high-order modulation can increase the communication rate (as shown in Figure 11), making the communication rate closer to the channel capacity. In order to improve the performance of high-order modulation, channel coding can be used to sacrifice part of the transmission rate to reduce the bit error rate.

According to the integrated communication and positioning device according to the embodiment of the present invention, by converting the electrical signal into a magnetic signal, and using the magnetic signal to communicate with other integrated communication and positioning devices, the signal loss of the communication signal in underwater or underground conditions is reduced. Attenuation, to ensure the communication quality.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations to the present invention. Variations, modifications, substitutions, and modifications to the above-described embodiments are possible within the scope of the present invention.

Claims (7)

1. An integrated device for communication and positioning, characterized in that it comprises: a receiving module, configured to receive the magnetic signal and convert the magnetic signal into communication data and positioning information; and a transmitting module, configured to convert the communication data and the positioning information into magnetic signals, and send the magnetic signals to communicate and position with other integrated communication and positioning devices, The receiving module includes: The positioning calculation unit is used to extract the positioning signal from the amplified analog electrical signal, obtain the position parameter and attitude parameter of the transmitting party's communication and positioning integrated device according to the positioning signal, and obtain the position parameter and the attitude parameter according to the position parameter and the attitude parameter determining the position of the transmitting party's communication and positioning integrated terminal, The position parameter and the attitude parameter are obtained by the following formula, the formula is, Wherein, [B _x By _y B _z ] represents the magnetic field distribution when the three-axis coil of the communication and positioning integrated device of the transmitting party transmits signals, and [B _x' By _y' B _z' ] is the receiving module at x' The magnetic field distribution received by the y'z' coordinate system, x, y, z are the position parameters, ω, ξ, is the attitude parameter. 2. The communication and positioning integrated device according to claim 1, wherein the receiving module further comprises: a receiving unit, configured to receive the magnetic signal and convert it into the analog electrical signal; an amplifier, configured to amplify the analog electrical signal; an analog-to-digital converter, configured to perform analog-to-digital conversion on the amplified analog electrical signal to obtain a digital signal; and The demodulation unit is used to demodulate the converted digital signal into communication data and the positioning information. 3. The communication and positioning integrated device according to claim 1, wherein the transmitting module specifically comprises: a modulation unit, configured to modulate the communication data and the positioning signal into digital signals; a digital-to-analog converter for digital-to-analog conversion of the digital signal to obtain an analog electrical signal; and a power amplifier for amplifying the analog electrical signal; and a transmitting unit, configured to transform the amplified analog electric signal into a magnetic signal and transmit it. 4. The communication and positioning integrated device according to claim 2, wherein the receiving unit comprises a three-axis coil, and the magnetic signal is received by the three-axis coil. 5. The communication and positioning integrated device according to claim 3, wherein the transmitting unit comprises a three-axis coil, and the magnetic signal is transmitted through the three-axis coil. 6. The communication and positioning integrated device according to claim 3, wherein the transmitting module further comprises: A positioning signal generating unit, after the positioning signal generated by the positioning signal generating unit is amplified by a power amplifier, converted into a magnetic signal by the transmitting unit together with the amplified analog electrical signal and transmitted. 7. The communication and positioning integrated device according to claim 2, wherein the receiving module further comprises: The signal separation unit is configured to separate the analog electrical signal according to the positioning signal, so as to restore the received analog signal to signals respectively transmitted by the three coils at the transmitting end.