CN104459626A - Ultrasonic wave indoor positioning method based on CDMA-TDMA combination - Google Patents
Ultrasonic wave indoor positioning method based on CDMA-TDMA combination Download PDFInfo
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- CN104459626A CN104459626A CN201410639686.9A CN201410639686A CN104459626A CN 104459626 A CN104459626 A CN 104459626A CN 201410639686 A CN201410639686 A CN 201410639686A CN 104459626 A CN104459626 A CN 104459626A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
Abstract
The invention discloses an ultrasonic wave indoor positioning method based on CDMA-TDMA combination. A central station, a beacon node, a target node and an upper computer are involved. The ultrasonic wave indoor positioning method has the advantages of being small in computation burden, high in interference resistance, high in processing speed, capable of achieving real-time processing and the like, and is applicable to wide-range ultrasonic wave indoor positioning.
Description
Technical field
The invention belongs to field of navigation technology, propose a kind of ultrasound wave indoor orientation method combined based on CDMA (Code Division Multiple Access)-TDMA (TimeDivision Multiple Access), for the real-time location to detecting indoor article movement.
Background technology
Indoor positioning technologies becomes the focus of research in recent years, and along with the development of indoor positioning technologies, the life of people also can be thereupon more and more convenient.
Typical indoor positioning technologies mainly contains infrared technique, ZigBee technology, wireless blue tooth technology, super-broadband tech and ultrasonic technology.Ultrasound wave indoor positioning technologies, compared with other technologies, has that low cost, anti-electromagnetic interference capability affect by light smog by force, or not a directly perceived and positioning precision high of temporal information.Therefore, ultrasound wave location technology is widely used in various range finding and positioning system.
Conventional mainly contains based on hyperacoustic indoor positioning technologies:
The first is for need positioning object to be installed radiofrequency launcher (or infrared transmission module) and ultrasonic transmitter array, in indoor fixed position, ultrasonic receiver and radio frequency receiver are installed, positioning object is emitting radio frequency signal and ultrasonic signal simultaneously, receiving end passes through the distance between the digital object of two signals arrival and each ultrasonic receiver, base station receives the range information that launches from fixed position and carries out positions calculations, then operation result is sent to positioning object by Data-Link.The shortcoming of this location technology is when there is multiple positioning object in located space, and it is which positioning object launches the signal of coming that the ultrasonic receiver at fixed position place cannot be distinguished actually.
The second is the method for ultrasonic locating based on CDMA.This technology launches ultrasonic signal at the multiple beaconing nodes of indoor layout, positioning end installs ultrasonic receiver array, beaconing nodes is emitted through the ultrasonic signal of modulation simultaneously, extracts time of arrival at positioning end by auto-correlation computation, positions computing.The shortcoming of this location technology is if lay multiple beaconing nodes about when indoor position on a large scale, and the operand like this when positioning end carries out auto-correlation computation is large.
Summary of the invention
For the defect that existing ultrasound wave indoor orientation method exists, the invention provides a kind of indoor ultrasonic localization method combined based on CDMA-TDMA.It is characterized in that: the indoor ultrasonic localization method combined based on CDMA-TDMA has that operand is little, strong interference immunity, processing speed are fast and can the feature such as real-time process, be applicable to indoor ultrasonic indoor positioning on a large scale.
The present invention for achieving the above object, adopts following technical scheme:
Based on CDMA-TDMA combine indoor ultrasonic positioning system by central station, beaconing nodes, destination node and host computer four part form.
Described central station, for realizing the time synchronized of ultrasonic positioning system, simultaneously the receiving target node positional information of sending is to realize the communication (real-time display-object position on host computer) with host computer.It is primarily of single-chip microcomputer and radio-frequency module composition.
Described beaconing nodes, for launching ultrasonic signal.After beaconing nodes receives the next time synchronizing signal of central station transmitting, often organize beaconing nodes and launch the ultrasonic signal after modulation according to certain time interval.It forms primarily of single-chip microcomputer, radio-frequency module and ultrasound transmitting transducer.
Namely described destination node needs the object of locating, and carries out location algorithm for received ultrasonic signal.After target node accepts launches next time synchronizing signal to central station, start to receive and process ultrasonic signal and be sent to central station processing the target location obtained.It forms primarily of single-chip microcomputer, radio-frequency module and ultrasound wave receiving transducer.
Described epigynous computer section, for the target position information that receiving center station sends, realizes the real-time communication with host computer, and the real-time position information of destination node is presented at host computer interface intuitively.It mainly realizes with software.
Technical scheme of the present invention comprises further:
Based on the indoor ultrasonic localization method that CDMA-TDMA combines, comprise the following steps:
(1) T moment central station passes through radio-frequency (RF) receiving and transmission module emitting radio frequency signal as time reference signal;
(2) after beaconing nodes receives the time synchronizing signal of central station transmitting, launch successively often group through the ultrasonic signal of pseudorandom sequence modulates, the time interval t that often group beaconing nodes transmits starts to launch next group signal, until all beaconing nodes all send after will carry out arranging to ensure target node accepts to the last group of signal launched according to indoor range and node location again;
(3), after target node accepts launches the radiofrequency signal come to central station, single-chip microcomputer starts timing function and prepares received ultrasonic signal.Elapsed time T1 (TI<t), ultrasound wave receiving transducer receives ultrasonic signal that first group of beaconing nodes launch and after signal processing circuit, carry out the autocorrelation analysis for random series through auto-correlation module, then single-chip microcomputer carries out the extraction of each beaconing nodes signal; Elapsed time T2, the ultrasonic signal that target node accepts is launched to first group of beaconing nodes; Receive the ultrasonic signal often organized beaconing nodes and send so successively.When after the time of arrival that the ultrasonic signal that at least three beaconing nodes are launched is determined in single-chip microcomputer inside, (this is designated as Δ t respectively
1, Δ t
2, Δ t
3), then position computing according to location algorithm (" three balls intersect method "), and be transferred to central station by resolving the positional information obtained by radio-frequency module;
" three balls intersect method " location algorithm analysis: suppose that the coordinate of three beaconing nodes received is respectively: beaconing nodes 1 three-dimensional coordinate (x, 0,0), beaconing nodes 2 three-dimensional coordinate (0, y, 0), beaconing nodes 2 three-dimensional coordinate (0,0, z), it is Δ t that ultrasonic signal corresponding respectively reaches the time
1, Δ t
2, Δ t
3, then three beaconing nodes can be tried to achieve by formula to the distance of destination node:
d＝v×Δt (1)
In formula, v is ultrasonic signal velocity of propagation in atmosphere; △ t is that signal reaches the time; D is that beaconing nodes is to destination node distance.
The computing formula of destination node (X, Y, Z) is:
D in formula
1, d
2, d
3be respectively the distance that three beaconing nodes are tried to achieve by formula (1).
The 3 d space coordinate (X, Y, Z) of destination node can be obtained by above formula.
(4) central station is received after destination node launches the target position information come and is communicated with host computer by serial ports, is shown in real time target location by host computer.
Compared with existing ultrasound wave indoor orientation method, the indoor ultrasonic localization method combined based on CDMA-TDMA has the following advantages:
(1) strong interference immunity.The indoor ultrasonic localization method node often organized in beacon based on CDMA-TDMA combination adopts the square wave of different pseudorandom sequence modulates 40kHz, and the ultrasonic signal making each node launch due to the good auto-correlation of pseudo-random sequence and their cross correlation is interference-free mutually, solve the problem of multi-access inference;
(2) operand is little.The indoor ultrasonic localization method combined based on CDMA-TDMA only needs few when to carry out autocorrelation analysis at destination node place be random series, solves the problem that when all beaconing nodes in indoor adopt different pseudo-random sequence to carry out autocorrelation analysis, operand is large;
(3) real-time.The indoor ultrasonic localization method combined based on CDMA-TDMA is often organized between beaconing nodes and is transmitted according to certain time interval, solves simple all nodes and to transmit successively the long problem of time delay;
(4) visual.Based on the display-object position on host computer that the indoor ultrasonic localization method of CDMA-TDMA combination can be real-time by the communication between central station and host computer, this may be used for actual production with life;
(5) the indoor ultrasonic localization method combined based on CDMA-TDMA effectively overcomes the impact of " near-far interference ";
Suppose that the power of each beaconing nodes transmitting ultrasonic signal is equal, and ultrasound wave is decayed along with the increase of propagation distance, if so destination node and beaconing nodes K's is distant, the signal that the beaconing nodes K then received launches is more weak, the signal that other beaconing nodes then received are launched is stronger, now will produce the phenomenon of one " weak to suppress ", when strong and weak significant difference, wanted signal will be flooded by multiple access interference signal, causing cannot the distance of correctly estimating target node and beaconing nodes K, and this phenomenon is called " near-far interference ".
(6) the indoor ultrasonic localization method in addition, combined based on CDMA-TDMA also has the advantages such as the positioning precision that existing ultrasound wave location technology has is high, cost is low, low in energy consumption.
Accompanying drawing explanation
Fig. 1 is the indoor ultrasonic positioning system structure composition diagram combined based on CDMA-TDMA;
Fig. 2 is the specific implementation block diagram of central station;
Fig. 3 is the specific implementation block diagram of beaconing nodes;
Fig. 4 is the specific implementation block diagram of destination node;
Fig. 5 is the indoor ultrasonic localization method implementation result figure combined based on CDMA-TDMA.
Embodiment
In order to realize that indoor operand is little, real-time good, the indoor three-dimensional high-precision location of strong interference immunity etc., the invention provides a kind of indoor ultrasonic localization method combined based on CDMA-TDMA.Be described in detail below in conjunction with the technical scheme of accompanying drawing to the positioning system of invention:
System architecture composition based on the indoor ultrasonic positioning system that CDMA-TDMA combines:
As shown in Figure 1: based on CDMA-TDMA combine indoor ultrasonic positioning system by central station, beaconing nodes, destination node and host computer four part form.Interknit between four parts, i.e. central station emitting radio frequency signal instruction beaconing nodes (transmitting ultrasonic signal) and destination node (received ultrasonic signal), carry out location algorithm after target node accepts to ultrasonic signal to resolve, then calculation result by radio signal transmission to central station, shown to host computer by Serial Port Transmission when central station receives positional information.Further, every four of beaconing nodes is divided into many one group, often launch ultrasonic signal through certain time interval between group, by air transmission to destination node, destination node through the time interval identical with beaconing nodes receive ultrasonic signal go forward side by side row relax, resolve, determine positional information.
Key based on the indoor ultrasonic location technology of CDMA-TDMA combination is how reasonably to lay beaconing nodes.Following aspect is mainly considered in the laying of beaconing nodes:
(1) base length between beaconing nodes is unsuitable oversize;
(2) quantity of beaconing nodes is unsuitable too many.
Distance between the beaconing nodes that the present invention fixes in indoor is relatively near, quantity relatively many (but should not blindly establish) more, this just makes often to organize the next ultrasonic signal strength difference of beaconing nodes transmitting can not be very large, avoids and often organize between beaconing nodes because intensity difference is apart from causing " near-far interference " phenomenon greatly.
Selection based on the indoor ultrasonic location technology destination node place ultrasound signal receipt mechanism that CDMA-TDMA combines: after radio-frequency (RF) receiving and transmission module receives the next time unification signal of central station transmitting, single-chip microcomputer starts timing function, and prepares received ultrasonic signal; Single-chip microcomputer receives the ultrasonic signal often organized beaconing nodes transmitting and come successively, when receiving the next ultrasonic signal of beaconing nodes transmitting and being relatively weak, deviation may be there is in the signal processing of destination node, autocorrelation analysis module is made to can't detect corresponding signal, (beaconing nodes is relatively many can to ignore this ultrasonic signal, can not positions calculations be affected), receive next group beaconing nodes and launch the ultrasonic signal of coming.
The concrete function of four parts is as follows: central station provides time reference and communicates with host computer; Beaconing nodes launches ultrasonic signal; Destination node is used for receiving and resolving ultrasonic signal; Host computer is used for real-time display-object positional information.
The specific implementation block diagram of central station as shown in Figure 2.It is primarily of radio-frequency (RF) receiving and transmission module and single-chip microcomputer (control communication module) composition.Single-chip Controlling radio-frequency module unified signal launch time; Launch the positional information that rear wait-receiving mode destination node sends; After receiving positional information, single-chip microcomputer realizes the communication with host computer by serial ports.
The specific implementation block diagram of beaconing nodes as shown in Figure 3.It mainly contains radio-frequency module, single-chip microcomputer (control module), signal generator, power amplifier module and ultrasound transmitting transducer four part composition.Radio-frequency module is used for receiving center station and launches the time unification signal of coming; Single-chip Controlling stores the transmission of pseudo-random sequence therein; Signal generator is for generation of the square-wave signal (ultrasonic transducer can be counted as bandpass filter, and it is sinusoidal wave as carrier wave during ultrasound emission that this characteristic makes system that square wave can be used to replace) of 40kHz (40kHz is ultrasonic frequency); Power amplifier module is used for the weak voltage signal after modulating for random series and ultrasonic carrier to amplify, and makes it possible to driving ultrasound transmitting transducer; Ultrasound transmitting transducer is for launching the ultrasonic signal after modulation.
The specific implementation block diagram of destination node as shown in Figure 4.It is primarily of radio-frequency (RF) receiving and transmission module, single-chip microcomputer (control module), auto-correlation module, ultrasound wave receiving transducer, Signal reception treatment circuit five part composition.Radio-frequency (RF) receiving and transmission module is used for receiving center station and launches next time unification signal and the positional information cleared out is transmitted to central station; Then the reception of Single-chip Controlling ultrasonic signal positions computing; Auto-correlation module is resolved for the auto-correlation realizing pseudo-random sequence; Ultrasound wave receiving transducer is for receiving the ultrasonic signal transmitted; The operations such as signal processing circuit is used for the ultrasonic signal received to carry out amplifying, filtering, shaping.
Host computer is realized by software, is mainly used for realizing real-time Communication for Power with central station, and display needs the positional information of positioning object.
As can be seen from foregoing description, the basic ideas of native system design are: install multiple beaconing nodes (three-dimensional coordinate of beaconing nodes is known) in indoor ceiling, every four beaconing nodes are divided into one group; Often organize the time of launching ultrasonic signal between beaconing nodes different, often organize interior four beaconing nodes and launch ultrasonic signal simultaneously, but what launch is the ultrasonic signal of different pseudorandom sequence modulates; Carry out the extraction of each beaconing nodes signal after target node accepts to ultrasonic signal and carry out location algorithm, then by central station, positional information being transferred to host computer and showing in real time.
Based on CDMA-TDMA combine indoor ultrasonic location technology implementation result figure as shown in Figure 5.Signal that two each beaconing nodes in different group the inside receive at the destination node place pseudo-random sequence produced for random series figure and beaconing nodes place signal generator is after treatment given in figure.Clearly can tell from figure and be which beaconing nodes launches the ultrasonic signal of coming.
Introduce the concrete positioning step of the indoor ultrasonic localization method combined based on CDMA-TDMA below:
(1) T moment central station passes through radio-frequency (RF) receiving and transmission module emitting radio frequency signal as time reference signal;
The velocity of propagation of radiofrequency signal is c
1(c
1for constant, refer to radiofrequency signal speed, the present invention gets c
1=3 × 10
8m/s), the aerial velocity of propagation of ultrasonic signal is generally c
2(c
2for constant, refer to ultrasonic propagation velocity, the present invention gets c
2=340m/s).Because the velocity of propagation of radiofrequency signal is much larger than hyperacoustic velocity of propagation, so we can think that the moment of radiofrequency signal arrival beaconing nodes is identical with the moment of destination node.Radiofrequency signal so just can be used as time reference signal.
(2) after beaconing nodes receives the next radiofrequency signal of central station transmitting, in first group of beaconing nodes, four beacon emissions are stored in the pseudo-random sequence of single-chip microcomputer inside in advance (the present invention's are m sequences, m sequence is conventional a kind of pseudo-random sequence) square-wave signal of 40kHz that produces with signal generator modulate after signal, by power amplifier module driving ultrasonic transducer transmitting ultrasonic signal; Four beacon emissions ultrasonic signals in elapsed time t (t often organizes the time interval of launching ultrasonic signal between beaconing nodes) second group of beaconing nodes; Like this, elapsed time interval t often organize beaconing nodes send ultrasonic signal, until N group (N is constant, refers to the total group of number that beaconing nodes is divided into, N=1,2,3 ...) beaconing nodes all sends;
Further, the producing method of adopted m sequence (m sequence is a kind of pseudo-random sequence m sequence that the present invention uses) is introduced:
The mode of use hardware presented here produces, and also can produce m sequence with software and be stored in single-chip microcomputer.Because beaconing nodes of often organizing of the present invention only includes four beacons, so only need four groups of different m sequences.Therefore, the present invention has selected 5 grades of m sequences (have the primitive polynomial that 6 different, only need to select four wherein).
Further, the selection of the square-wave signal modulation system of m sequence and 40kHz:
The modulation of m sequence and square-wave signal belongs to digital modulation, and the present invention selects scale-of-two amplitude shift key modulation (BASK) mode, that is: when m sequence is high level " 1 ", send square-wave signal; During for low level " 0 ", do not send square-wave signal.
Further, the determination of time interval t:
In order to the impact making the signal received at destination node place not comprise other beaconing nodes group signals, must rational design time interval t.The present invention launches next group beaconing nodes signal again on guarantee target node accepts to the basis of last group of beaconing nodes signal, makes the signal of the just one group of beaconing nodes transmitting received at destination node place instead of several groups of beaconing nodes launch the mixed signal of coming like this.
(3), after target node accepts launches the radiofrequency signal come to central station, single-chip microcomputer starts timing function and prepares received ultrasonic signal.Elapsed time T1 (TI<t), ultrasound wave receiving transducer receives ultrasonic signal that first group of beaconing nodes launch and after signal processing circuit, carry out the autocorrelation analysis for random series through auto-correlation module, then single-chip microcomputer carries out the extraction of each beaconing nodes signal; Elapsed time T2, the ultrasonic signal that target node accepts is launched to first group of beaconing nodes; Receive the ultrasonic signal often organized beaconing nodes and send so successively.When after the time of arrival that the ultrasonic signal that at least three beaconing nodes are launched is determined in single-chip microcomputer inside, (this is designated as Δ t respectively
1, Δ t
2, Δ t
3), then position computing according to location algorithm (" three balls intersect method "), and be transferred to central station by resolving the positional information obtained by radio-frequency module.
The computing formula that signal reaches time Δ t is:
Δt＝T+ΔT (3)
In formula, initial time when T is the ultrasonic signal arrival destination node often organizing beacon emissions, Δ T is the time of extracting after auto-correlation computation with the m sequence received through local m sequence.
(4) after central station receives the target position information that destination node sends, by this information by Serial Port Transmission to host computer by real-time the showing of host computer, complete location.
The content be not described in detail in present disclosure belongs to the known prior art of professional and technical personnel in the field.
Claims (1)
1., based on the ultrasound wave indoor orientation method that CDMA-TDMA combines, it is characterized in that:
(1) described localization method by central station, beaconing nodes, destination node and host computer four part form;
Described central station, for realizing the time synchronized of ultrasonic positioning system, simultaneously the receiving target node positional information of sending is to realize the communication (real-time display-object position on host computer) with host computer; It is primarily of single-chip microcomputer and radio-frequency module composition;
Described beaconing nodes, for launching ultrasonic signal; After beaconing nodes receives the next time synchronizing signal of central station transmitting, often organize beaconing nodes and launch the ultrasonic signal after modulation according to certain time interval; It forms primarily of single-chip microcomputer, radio-frequency module and ultrasound transmitting transducer;
Namely described destination node needs the object of locating, and carries out location algorithm for received ultrasonic signal; After target node accepts launches next time synchronizing signal to central station, start to receive and process ultrasonic signal and be sent to central station processing the target location obtained; It forms primarily of single-chip microcomputer, radio-frequency module and ultrasound wave receiving transducer;
Described epigynous computer section, for the target position information that receiving center station sends, realizes the real-time communication with host computer, and the real-time position information of destination node is presented at host computer interface intuitively, realize with software;
(2) localization method step of the present invention is as follows:
(A) T moment central station passes through radio-frequency (RF) receiving and transmission module emitting radio frequency signal as time reference signal;
(B) after beaconing nodes receives the time synchronizing signal of central station transmitting, launch successively often group through the ultrasonic signal of pseudorandom sequence modulates, the time interval t that often group beaconing nodes transmits starts to launch next group signal, until all beaconing nodes all send after will carry out arranging to ensure target node accepts to the last group of signal launched according to indoor range and node location again;
(C), after target node accepts launches the radiofrequency signal come to central station, single-chip microcomputer starts timing function and prepares received ultrasonic signal; Elapsed time T1 (TI<t), ultrasound wave receiving transducer receives ultrasonic signal that first group of beaconing nodes launch and after signal processing circuit, carry out the autocorrelation analysis for random series through auto-correlation module, then single-chip microcomputer carries out the extraction of each beaconing nodes signal; Elapsed time T2, the ultrasonic signal that target node accepts is launched to first group of beaconing nodes; Receive the ultrasonic signal often organized beaconing nodes and send so successively; When after the time of arrival that the ultrasonic signal that at least three beaconing nodes are launched is determined in single-chip microcomputer inside, (this is designated as Δ t respectively
1, Δ t
2, Δ t
3), then position computing according to location algorithm (" three balls intersect method "), and be transferred to central station by resolving the positional information obtained by radio-frequency module;
" three balls intersect method " location algorithm analysis: suppose that the coordinate of three beaconing nodes received is respectively: beaconing nodes 1 three-dimensional coordinate (x, 0,0), beaconing nodes 2 three-dimensional coordinate (0, y, 0), beaconing nodes 2 three-dimensional coordinate (0,0, z), it is Δ t that ultrasonic signal corresponding respectively reaches the time
1, Δ t
2, Δ t
3, then three beaconing nodes can be tried to achieve by formula to the distance of destination node:
d＝v×Δt (1)
In formula, v is ultrasonic signal velocity of propagation in atmosphere; △ t is that signal reaches the time; D is that beaconing nodes is to destination node distance;
The computing formula of destination node (X, Y, Z) is:
D in formula
1, d
2, d
3be respectively the distance that three beaconing nodes are tried to achieve by formula (1);
The 3 d space coordinate (X, Y, Z) of destination node can be obtained by above formula;
(D) central station is received after destination node launches the target position information come and is communicated with host computer by serial ports, is shown in real time target location by host computer.
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