CN104202063B - Communication and location integrated device - Google Patents
Communication and location integrated device Download PDFInfo
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- CN104202063B CN104202063B CN201410400323.XA CN201410400323A CN104202063B CN 104202063 B CN104202063 B CN 104202063B CN 201410400323 A CN201410400323 A CN 201410400323A CN 104202063 B CN104202063 B CN 104202063B
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- 238000010586 diagram Methods 0.000 description 12
- 238000005259 measurement Methods 0.000 description 4
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Abstract
The present invention provides a communication and location integrated device comprising: a receiving module for receiving magnetic signals and converting the magnetic signals into communication data and location information; and a transmitting module for converting the communication data and location information into magnetic signals and sending the magnetic signals so as to communicate with and locate other communication and location integrated devices. The communication and location integrated device according to the embodiment of the present invention realizes simultaneous location and communication over one link at the same time, expands the application range of terminals and reduces signal attenuation of communication signals in underwater or underground case by converting electrical signals into magnetic signals and performing communication and location with other communication and location integrated devices via magnetic signals, thereby ensuring communication quality.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of communication positioning integrated apparatus.
Background technology
Existing radio communication is communicated using radio signal mostly, will communication data modulation to radio wave
On, the positioning that communicated with other in the way of receiving or sending radio wave integrated apparatus, base station or satellite are communicated.
But attenuation degree of the radio wave in the solid dielectric such as empty gas and water and rock or liquid differs greatly, and at this
Propagation in a little solid dielectrics or liquid medium is very unstable.Because the particularity jitter of medium or environment cannot communicate
The life security of user may be directly influenced.
The content of the invention
The purpose of the present invention is intended at least solve one of above-mentioned technological deficiency.
For this purpose, the present invention needs to provide a kind of communication positioning integrated apparatus.
In view of this, embodiments of the invention propose a kind of communication positioning integrated apparatus, including：Receiver module, is used for
Magnetic signal is received, and the magnetic signal is converted to into communication data and location information；And transmitter module, for by communication data
Magnetic signal is converted to the framing signal, and sends the magnetic signal and communicated with positioning integrated apparatus that communicate with other
And positioning.
Communication positioning integrated apparatus according to embodiments of the present invention, realize on a link and meanwhile carry out positioning with
Communication, extends the range of application of device, and by converting electrical signals to magnetic signal, and communicating with other with magnetic signal one is positioned
Body makeup is put and is communicated and positioned, so as to reduce signal attenuation of the signal of communication under water or when underground, it is ensured that
Communication quality.
In one embodiment of the invention, the receiver module is specifically included：Receiving unit, for receiving the magnetic letter
Number and be converted to analog electrical signal；Amplifier, for being amplified to the analog electrical signal；Analog-digital converter, for putting
The analog electrical signal after big carries out analog digital conversion to obtain digital signal；And demodulating unit, for by the number after conversion
Word signal is demodulated into communication data and the location information.
In one embodiment of the invention, the transmitter module is specifically included：Modulating unit, for by the communication number
Digital signal is modulated to according to the framing signal；Digital to analog converter, for carrying out digital-to-analogue conversion to the digital signal to obtain
To analog electrical signal；And power amplifier, for the analog electrical signal to be amplified；And transmitter unit, for inciting somebody to action
Analog electrical signal after the amplification is transformed to magnetic signal and launches.
In one embodiment of the invention, the receiving unit includes three axial coils, is received by three axial coil
The magnetic signal.
In one embodiment of the invention, the transmitter unit includes three axial coils, is launched by three axial coil
The magnetic signal.
In one embodiment of the invention, the transmitter module also includes：Framing signal signal generating unit, the framing signal
After the framing signal that signal generating unit is generated is by power amplifier amplification, by described together with the analog electrical signal after the amplification
Transmitter unit is transformed to magnetic signal and launches.
In one embodiment of the invention, also include in the receiver module：Positioning calculation unit, for from after amplification
The analog electrical signal in extract framing signal, launch party's communication positioning integrated apparatus are obtained according to the framing signal
Location parameter and attitude parameter, and launch party's communication positioning one is determined according to the location parameter and the attitude parameter
The position that makeup is put.
In one embodiment of the invention, the receiver module also includes：Signal separation unit, for according to described fixed
Analog electrical signal described in the Signal separator of position, is reduced to the analogue signal for receiving three coils of transmitting terminal and launches respectively
Signal.
In one embodiment of the invention, the location parameter and institute's attitude parameter are obtained by equation below, described
Formula is,
Wherein, [BxByBz] magnetic when representing three axial coil transmission signal of launch party communication positioning integrated apparatus
Field distribution, [Bx'By'Bz'] be the receiver module in the Distribution of Magnetic Field received by x'y'z' coordinate systems, x, y, z are institute's rheme
Put parameter,For the attitude parameter.
The additional aspect of the present invention and advantage will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect of the present invention and advantage will become from the following description of the accompanying drawings of embodiments
It is substantially and easy to understand, wherein,
Fig. 1 is the structured flowchart of the communication positioning integrated apparatus according to one embodiment of the invention；
Fig. 2 is the structured flowchart of the receiver module according to one embodiment of the invention；
Fig. 3 is the signal data according to the transmitting of the transmitter module of one embodiment of the invention；
Fig. 4 is the schematic diagram of three axial coils according to one embodiment of the invention；
Fig. 5 is the structured flowchart of the transmitter module according to one embodiment of the invention；
Fig. 6 is the emulation schematic diagram according to two of one embodiment of the invention communication positioning integrated apparatus；
Fig. 7 is the schematic diagram of the framing signal according to the transmitting of the underground terminal of one embodiment of the invention and signal of communication；
Fig. 8 is the comparison schematic diagram of the range measurement accuracy according to one embodiment of the invention and theoretical precision；
Fig. 9 is the error schematic diagram away from angle-measurement accuracy according to one embodiment of the invention；
Figure 10 is the schematic diagram of the bit error rate according to one embodiment of the invention；And
Figure 11 is the schematic diagram of the channel capacity according to one embodiment of the invention and transfer rate.
Specific embodiment
Embodiments of the invention are described below in detail, the example of embodiment is shown in the drawings, wherein identical from start to finish
Or similar label represents same or similar element or the element with same or like function.Retouch below with reference to accompanying drawing
The embodiment stated is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " is
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicates or dark
Showing the device or element of indication must have specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
The restriction of the present invention.Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative
Importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Fig. 1 is the structured flowchart of the communication positioning integrated apparatus according to one embodiment of the invention.As shown in figure 1, root
Include according to the communication positioning integrated apparatus 100 of the embodiment of the present invention：Receiver module 110 and transmitter module 120.
Specifically, receiver module 110 is used to receive magnetic signal, and magnetic signal is converted to into communication data and location information.
Transmitter module 120 is used to for communication data and framing signal to be converted to magnetic signal, and sends magnetic signal with the positioning that communicates with other
Integrated apparatus are communicated and are positioned.
Fig. 2 is the structured flowchart of the receiver module according to one embodiment of the invention.As shown in Fig. 2 receiver module 110 is wrapped
Include：Receiving unit 111, amplifier 112, analog-digital converter 113, demodulating unit 114 and positioning calculation unit 115.
Specifically receiving unit 111 is used to receive magnetic signal and be converted to analog electrical signal.Amplifier 112 is used for mould
Intend the signal of telecommunication to be amplified.Analog-digital converter 113 is used to that the analog electrical signal after amplification to be carried out analog digital conversion to obtain numeral
Signal.Demodulating unit 114 is used for the digital demodulation signal after changing as communication data and the location information.Positioning calculation list
Unit 115 is used to extract framing signal in the analog electrical signal from after amplification, and according to framing signal launch party's communication positioning one is obtained
Location parameter and attitude parameter that body makeup is put, and launch party's communication positioning integration is determined according to location parameter and attitude parameter
The position of device.Receiver module 110 can also include：Signal separation unit, for according to the framing signal separation simulation signal of telecommunication,
So that the analogue signal for receiving is reduced to into the signal that three coils of transmitting terminal are launched respectively.
Fig. 3 is the signal data according to the transmitting of the transmitter module of one embodiment of the invention.As shown in figure 3, the signal number
Constitute according to including three parts, having frame head, framing signal and signal of communication.Frame head is used for synchronous, and in positioning, three coils can be with
Timesharing sends specific signal, to meet location algorithm and high capacity communication demand.During communication, three coils can send simultaneously
Different signals, receiver module 110 obtains position and attitude information using location algorithm, the signal that three axial coils are launched point
From utilization space multiplexing improves the capacity of communication.Three axial coils can also simultaneously send identical signal, to produce similar movement
Diversity in communication, while asking of may weakening of the magnetic field intensity that receives when preventing the relative position of receiving coil from changing
Topic.
In one embodiment of the invention, receiving unit 111 includes three axial coils, and by three axial coils magnetic letter is received
Number, three axial coil includes that three orthogonal coil its structures are as shown in Figure 4.In positioning, three coils are launched successively
Magnetic signal.The modulation system of modulating unit 111 includes but is not limited to the pulse-position modulation such as such as PPM or can be BPSK, QPSK or
8PSK equiphase modulation systems.
Fig. 5 is the structured flowchart of the transmitter module according to one embodiment of the invention.As shown in figure 5, transmitter module 120 is wrapped
Include：Modulating unit 121, digital to analog converter 122, power amplifier 123, transmitter unit 124 and framing signal signal generating unit 125.
Specifically, modulating unit 121 is used to for communication data and the framing signal to be modulated to digital signal.Digital-to-analogue conversion
Device 122 is used to that digital signal to be carried out digital-to-analogue conversion to obtain analog electrical signal.Power amplifier 123 is used for analog electrical signal
It is amplified.Transmitter unit 124 is used to the analog electrical signal after amplification is transformed to into magnetic signal and is launched.Framing signal generates single
After the framing signal that first 125 framing signal signal generating units are generated puts 123 greatly by power amplifier, with the simulation electricity after amplification
Signal is transformed to magnetic signal and launches by transmitter unit 124 together.
In one embodiment of the invention, transmitter unit 124 includes three axial coils, and by three axial coils magnetic letter is launched
Number.Modulating unit 121 is modulated using pulse-position modulation or phase modulation method to the communication data and the framing signal.
The magnetic signal that each coil sends in far field can see the field that a magnetic dipole is formed as, with transmitting coil as origin,
Distribution of Magnetic Field during three coil transmissions magnetic signals can be expressed as：
Wherein, μ is pcrmeability, mx,my,mzFor magnetic moment, ρ is the air line distance between the transmitter unit of device,ex,ey,ezIt is the unit vector along the axles of transmitting coil xyz tri-, x, y, z are location parameter.Receiving line
Enclosing the signal received in the x'y'z' coordinate systems being located is：
Wherein, [BxByBz] magnetic field point when representing three axial coil transmission signal of launch party's communication positioning integrated apparatus
Cloth, [Bx'By'Bz'] for receiver module in the Distribution of Magnetic Field received by x'y'z' coordinate systems, x, y, z are location parameter,
For attitude parameter.
Fig. 6 is the emulation schematic diagram according to two of one embodiment of the invention communication positioning integrated apparatus.Such as Fig. 6 institutes
Show, with diameter mouth as origin, ground based terminal coordinate is for (0,50,0), straight well overlaps with z-axis, and depth is 50 meters.Underground terminal exists
In the horizontal well being connected with straight well, by emulating underground terminal measurement result of ground based terminal and logical in horizontal well diverse location
Letter situation, to assess the positioning precision and communication quality of communication positioning integrated apparatus.
Fig. 7 is the schematic diagram of the framing signal according to the transmitting of the underground terminal of one embodiment of the invention and signal of communication.
As shown in fig. 7, three axial coils of underground terminal launch successively the pulse signal of same magnitude duration, the receiver module of ground based terminal
3 × 3 signal matrix is obtained after reception, the location parameter of underground terminal can be obtained according to the matrix.Ground based terminal and underground
Terminal can be emulated using pulse-position modulation BPSK, QPSK and 8PSK modes such as such as PPM.Emulation to environment as shown in Figure 6
Result schematic diagram as shown in Figure 8 and Figure 9, carat Metro lower bound for unbiased esti-mator mean square error theoretical minimum value, can be with from Fig. 8
Find out, the range error that range error is obtained very close to theory lower-bound, with the measuring method below 0.1 meter (in 500 meters), and
And reached engine request.From fig. 9, it can be seen that the certainty of measurement of angle meets engine request up to 1 degree (in 500 meters).
Figure 10 is the schematic diagram of the bit error rate according to one embodiment of the invention.Figure 11 is according to a reality of the invention
Apply the channel capacity of example and the schematic diagram of transfer rate.If from fig. 10 it can be seen that directly carried out data transmission using BPSK,
The bit error rate is less than 10 within 1800 meters-5.Increase can the bit error rate during using high-order modulatings such as QPSK, 8PSK, communication distance
Reduce, but above the bit error rate of several modulation systems within 1000 meters is below 10-5, i.e., met number in this communication distance
According to transmission quality requirements.On the other hand, traffic rate (such as Figure 11) can be improved using high order modulation, is that traffic rate is closer
Channel capacity.To improve performance during high order modulation, chnnel coding can be adopted, sacrificial section transfer rate is reducing error code
Rate.
Communication positioning integrated apparatus according to embodiments of the present invention, by converting electrical signals to magnetic signal, and with magnetic
Signal positioning integrated apparatus that communicate with other are communicated, so as to reduce signal of communication under water or when underground
Signal attenuation, it is ensured that communication quality.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is in the principle and objective without departing from the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (7)
1. a kind of communication positions integrated apparatus, it is characterised in that include：
Receiver module, for receiving magnetic signal, and is converted to communication data and location information by the magnetic signal；And
Transmitter module, for communication data and the location information to be converted to into magnetic signal, and send the magnetic signal with its
He communicate positioning integrated apparatus communicated and positioned,
Include in the receiver module：
Positioning calculation unit, for extracting framing signal in the analog electrical signal from after amplification, obtains according to the framing signal
The location parameter and attitude parameter of launch party's communication positioning integrated apparatus, and according to the location parameter and the attitude parameter
Determine the position of launch party's communication positioning integrated terminal,
The location parameter and the attitude parameter are obtained by equation below, and the formula is,
Wherein, [BxByBz] magnetic field point when representing three axial coil transmission signal of launch party communication positioning integrated apparatus
Cloth, [Bx'By'Bz'] it is the receiver module in the Distribution of Magnetic Field received by x'y'z' coordinate systems, x, y, z are position ginseng
Number, ω, ξ,For the attitude parameter.
2. communication as claimed in claim 1 positions integrated apparatus, it is characterised in that the receiver module also includes：
Receiving unit, for receiving the magnetic signal and being converted to the analog electrical signal；
Amplifier, for being amplified to the analog electrical signal；
Analog-digital converter, carries out analog digital conversion to obtain digital signal for the analog electrical signal after to amplification；And
Demodulating unit, for by the digital demodulation signal after changing into communication data and the location information.
3. communication as claimed in claim 1 positions integrated apparatus, it is characterised in that the transmitter module is specifically included：
Modulating unit, for the communication data and the framing signal to be modulated to into digital signal；
Digital to analog converter, for carrying out digital-to-analogue conversion to obtain analog electrical signal to the digital signal；And
Power amplifier, for the analog electrical signal to be amplified；And
Transmitter unit, is transformed to magnetic signal and launches for the analog electrical signal after by the amplification.
4. communication as claimed in claim 2 positions integrated apparatus, it is characterised in that the receiving unit includes three axis
Circle, by three axial coil magnetic signal is received.
5. communication as claimed in claim 3 positions integrated apparatus, it is characterised in that the transmitter unit includes three axis
Circle, by three axial coil magnetic signal is launched.
6. communication as claimed in claim 3 positions integrated apparatus, it is characterised in that the transmitter module also includes：
Framing signal signal generating unit, after the framing signal that the framing signal signal generating unit is generated is by power amplifier amplification, with
The analog electrical signal after the amplification is transformed to magnetic signal and launches by the transmitter unit together.
7. communication as claimed in claim 2 positions integrated apparatus, it is characterised in that the receiver module also includes：
Signal separation unit, for separating the analog electrical signal according to the framing signal, by the simulation for receiving
Signals revivification is the signal that three coils of transmitting terminal are launched respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410400323.XA CN104202063B (en) | 2014-08-14 | 2014-08-14 | Communication and location integrated device |
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| CN201410400323.XA CN104202063B (en) | 2014-08-14 | 2014-08-14 | Communication and location integrated device |
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| CN104202063A CN104202063A (en) | 2014-12-10 |
| CN104202063B true CN104202063B (en) | 2017-04-12 |
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| CN201410400323.XA Expired - Fee Related CN104202063B (en) | 2014-08-14 | 2014-08-14 | Communication and location integrated device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110095817A (en) * | 2019-03-19 | 2019-08-06 | 西人马（厦门）科技有限公司 | Movable object object localization method and device |
| CN111025276B (en) * | 2019-11-21 | 2022-04-05 | 南京航空航天大学 | Bistatic radar optimal radio frequency stealth power distribution method under frequency spectrum coexistence environment |
| CN112857361B (en) * | 2021-01-06 | 2023-03-07 | 哈尔滨工业大学（深圳） | Method, device and equipment for separating multi-solenoid magnetic field signals and readable storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1659505A (en) * | 2002-04-15 | 2005-08-24 | 埃波斯技术有限公司 | Method and system for obtaining positioning data |
| CN101827461A (en) * | 2009-03-06 | 2010-09-08 | 电子部品研究院 | Wireless communication system for managing an underground facility |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1659505A (en) * | 2002-04-15 | 2005-08-24 | 埃波斯技术有限公司 | Method and system for obtaining positioning data |
| CN101827461A (en) * | 2009-03-06 | 2010-09-08 | 电子部品研究院 | Wireless communication system for managing an underground facility |
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