CN104459675A - Ranging-based object positioning and tracking method and positioning equipment using method - Google Patents

Ranging-based object positioning and tracking method and positioning equipment using method Download PDF

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Publication number
CN104459675A
CN104459675A CN201410763984.9A CN201410763984A CN104459675A CN 104459675 A CN104459675 A CN 104459675A CN 201410763984 A CN201410763984 A CN 201410763984A CN 104459675 A CN104459675 A CN 104459675A
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handheld device
tracking
distance
range finding
time
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CN201410763984.9A
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吕云亭
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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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides a ranging-based object positioning and tracking method used for achieving real-time positioning and tracking of an object. The method comprises the steps that firstly, the distance between the object and a handheld device is determined, the minimum distance between the object and the handheld device is sought by rotating the handheld device, the direction of the target object relative to the handheld device is judged, and rapid and accurate positioning and tracking of the target object are achieved. The invention further provides positioning equipment using the ranging-based golf positioning and tracking method. The golf positioning and tracking method does not need extra cooperation of anchor nodes and a network system, and has the advantages of being easy and convenient in operation procedure, convenient, rapid and accurate to use, and the like.

Description

The positioning equipment of a kind of object localization based on range finding and tracking and use the method
Technical field
The present invention relates to electronic communication technology and Wireless Ad Hoc Networks field, particularly relate to there is range finding and survey direction function without beaconing nodes formula localization method, system and equipment.
Background technology
Whether current target object localization method generally needs the cooperation of known location node (anchor node) and network system, according to classifying based on range finding, then comprise based on the targeting scheme of distance with apart from irrelevant targeting scheme.
By measuring actual range between adjacent node or orientation positions based on the targeting scheme of distance.Detailed process is divided into three phases: the first stage is the range finding stage, and first unknown node measures distance or the angle of adjacent node, then calculates distance or the orientation of contiguous beaconing nodes further; Subordinate phase is positioning stage, and unknown node, after the distance calculating arrival more than three or three beaconing nodes or angle, utilizes the coordinate of trilateration, triangulation or Maximum Likelihood Estimation Method measuring position node; Phase III is the correction stage, carries out refinement to the coordinate of the node of trying to achieve, and improves positioning precision, reduces error.Based in the location of distance, adopt during distance and bearing between measured node method has based on time of arrival (TOA), based on time of arrival poor (TDOA), based on received signal strength indicator (RSSI), based on angle of arrival (AOA) etc., therefore the location of distance can be divided into: the location based on TOA, the location based on TDOA, the location based on AOA and the location etc. based on RSSI.Location based on distance can realize accurate location, but often high to the hardware requirement of wireless sensor node.
The targeting scheme that distance has nothing to do is without the need to the absolute distance between measured node or orientation, and it utilizes the network topology of node, the connectedness between node, realizes the location of node, which reduces the requirement of node hardware, but the error also corresponding increase of location.
Visible, no matter being based on the targeting scheme of distance or apart from irrelevant targeting scheme, is all that the networked deployment participated in based on multinode realizes.But under a variety of practical application scene, or the node not having position known, then cannot realize location.
Golfer often there will be the phenomenon that the golf that gets out can not find at the appointed time; golf how is found to be the thing that golfer is concerned about very much as early as possible; in garage, how to find the vehicle of oneself in addition fast, and adult is in market and the park thing that child finding oneself etc. is like this fast.These all show that positional information is most important for daily monitoring.
Summary of the invention
The present invention overcomes above-mentioned defect of the prior art, provides a kind of golf based on range finding location and tracking, for realizing real-time location to golf and tracking.
A kind of object localization based on range finding and tracking, first this method determines the distance between object and handheld device, by rotating the minor increment between handheld device searching object and handheld device, by handheld device in minor increment towards direction be defined as the locality of object, and by the position of minor increment determination object.
Preferably, the signal type that the range finding between described object and handheld device uses uses ultra broadband or linear frequency modulation spread spectrum.
Preferably, the range finding between described object and handheld device preferentially adopts the signal propagation time method based on linear frequency modulation spread spectrum.
Preferably, linear frequency modulation spread spectrum adopts the Chirp technology of military small-bore radar, realizes the Signal transmissions in 2.4GHz frequency range.
Preferably, the computing method of the distance d between golf and handheld device are
d = t p * C = t rounda - t replyA + t roundB - t replyB 4 * c
, wherein t roundA, t roundBfor the transmission time, t replyA, t replyBfor replying the stand-by period, C is the speed of transmission of wireless signals, t pfor the single measurement time.
Preferably, the speed of transmission of wireless signals is 3*10 8meter per second.
Preferably, the defining method of objective direction is, installs a compass in the handheld device, when rotating handheld device, the direction θ of the distance D between Real-time Obtaining handheld device and object and handheld device, after rotation one is enclosed, the different directions θ of Real-time Obtaining handheld device iwherein 1≤i≤n, time handheld device and object between distance D i, wherein 1≤i≤n, by comparing the distance D between handheld device and object i, wherein 1≤i≤n, find minor increment D min, then find for minor increment D mincorresponding θ, this angle is exactly the direction of object relative to handheld device.
Preferably, interior of articles embeds circuit, and circuit is positioned at spheroid central authorities, comprises wireless distance finding module, wireless charging module, power management module and controller module composition.
Preferably, handheld device circuit comprises wireless signal transceiver module, power management module, controller module and display module composition.
Use the positioning equipment based on the golf location of finding range and tracking, it location structure comprised uses above-mentioned location and tracking.This positioning equipment may be used for alignment-oriented golf or automobile.
Target object localization method provided by the invention coordinates without the need to additional beacon node and network system, has that operating process is easy, easy to use, the feature such as quick and precisely.
Accompanying drawing explanation
The concrete position fixing process schematic diagram of Fig. 1;
Fig. 2 target object orientation determination schematic diagram;
The architecture of Fig. 3 handheld device;
Fig. 4 is arranged on the target device architecture on object under test;
Embodiment
Ranging scheme
Distance-finding method between object described at present and handheld device, signal propagation time/mistiming/two-way time (TOA/TDOA/RTOF) etc.Signal propagation time/mistiming/range finding two-way time (TOA/TDOA/RTOF) determines between node respectively by the time of radio signal propagation between measured node, dissimilar wireless signal in the time come and gone with wireless signal between the propagation time difference between a pair node, node distance.
Distance accuracy based on signal propagation time/two-way time method is determined by the measuring accuracy of mistiming, and the precision of mistiming is determined by reference clock.Therefore, high-precision range observation needs high-precision reference clock, or needs high-precision clock synchronous.For low cost, low bandwidth, wireless sensor network node without reference clock, obtain the inherently challenge of high-precision clock.If adopt common radio frequency signal propagation time measuring distance to need high precision clock, the application for low cost is not very feasible program; And the low speed propagation rate signal such as use such as ultrasound wave is found range, requiring lower to clock accuracy, is compare realistic plan.The signal of two kinds of different velocity of propagation is used based on the scheme reaching the mistiming, for example one be ultrasound wave, one be radiofrequency signal, two signals send to same direction, determine nodal pitch by the mistiming and two signals of measuring two signals arrival receiving nodes in the transmitting time difference at sending node place.This ranging scheme also can be used in the invention of this location.
Linear frequency modulation spread spectrum (CSS) uses burst pulse to carry out accurate two-way measuring and calculating time of arrival, the distance accuracy of indoor or outdoors environment 1-2 rice can be realized, for general application, can satisfy the demands completely, this is also the ranging scheme of prioritizing selection of the present invention.Linear frequency modulation spread spectrum (CSS) adopts the Chirp technology of military small-bore radar, realizes the Signal transmissions in 2.4GHz frequency range; Chirp signal is understood to a kind of pulse signal of frequency-adjustable, and signal, in time domain upper frequency, change (Up Chirp or Down Chirp) or from high to low occurs from low to high; Frequency variation signal is after filtering after device, becomes 1 or 0 signal according to the difference of Up Chirp or Down Chirp frequency change trend; Owing to easily can tell pulse signal, system can identify the transmitting time of signal transmission, corresponding return signal time of arrival; And record in a register, carries out path-length calculating for software algorithm.
Its concrete position fixing process is as shown below, and first device A sends a signal to equipment B, after equipment B receives signal, replys a signal to device A; Simultaneously for improving the precision calculating signal transmission time, same process is started by equipment B, is sent to device A, is again returned to equipment B., as shown in Figure 1.
Signal single transmission distance is d, then, in whole measuring process, create four transmitting procedure 4d, and 2 times are replied stand-by period (t replyA; t replyB); So single measurement Time Calculation is as follows:
t p = t rounda - t replyA + t roundB - t replyB 4
Due to t roundA, t roundB, r eplyA, t rcplyBall can be measured by the baseband clocks of device A and equipment B, therefore single signal transmission time can calculate.And the transmission range of signal is exactly the distance between device A and B, can with following formulae discovery out, wherein in formula, C is the speed of transmission of wireless signals, is generally 3*10 8meter per second.
d = t p * C = t rounda - t replyA + t roundB - t replyB 4 * c
Orientation determination scheme
Orientation determines to be exactly determine golf or the automobile direction relative to handheld device, the present invention is by rotating handheld device, Real-time Obtaining handheld device is relative to the distance between golf or automobile, and when handheld device is just to golf or automobile, both are nearest; When handheld device is back to golf or automobile, both distances farthest.During by rotating handheld device, the distance between Real-time Obtaining handheld device and golf or automobile, when nearest between the two, handheld device direction faces golf or automobile.Thus Obtaining Accurate golf or automobile are relative to the azimuth information of handheld device.When distance accuracy between handheld device and golf or automobile can reach 1-2 rice, orientation can be met completely and determine requirement.
For golf or automobile position determination system schematic diagram as shown in Figure 2, its basic composition comprises handheld device 21, golf to be measured or automobile 22.Its location and tracking scheme as follows:
In practical operation, in the handheld device a compass is installed, when rotating handheld device, the distance D between Real-time Obtaining handheld device and golf or automobile and the direction θ of handheld device.As shown in Figure 2, after rotation one is enclosed, the different directions θ of Real-time Obtaining handheld device jdistance D time (1≤i≤n) between handheld device and golf or automobile i(1≤i≤n).By comparing the distance D between handheld device and golf or automobile i(1≤i≤n), finds minor increment D min, then find for minor increment D mincorresponding θ, this angle is exactly golf or the automobile direction relative to handheld device, and namely golf or automobile are relative to the orientation of handheld device.
The golf that this patent of invention can be used for indoor environment and outdoor environment is located in real time and follows the tracks of.Location and tracking range can from several meters to a few km, and the ranging technology of prioritizing selection is linear frequency modulation spread spectrum (CSS).Its embody rule can be divided into according to orientation distance distance:
The one in the schemes such as ultrasound wave, super-broadband tech (UWB) and linear frequency modulation spread spectrum (CSS) can be selected for finding range scene within 10 meters;
Linear frequency modulation spread spectrum (CSS) scheme can be selected for finding range scene more than 10 meters.
For the preferred ranging scheme CSS of the present invention, it adopts based on time measurement mechanism, when time resolution 3-4ns, range measurement accuracy can reach 1-1.2 rice, and in actual use, due to cause influences such as the interference of radio-frequency front-end multipath, time deviations, by filtering process, range error can be controlled in 1-3 rice; On measuring distance, the emissive power maximum transmission distance of 0dBm can reach 100m, as long as and wireless signal reach, signal just can be utilized to find range.When adopting power amplifier at its radio-frequency front-end and selecting suitable antenna, the applications distances of outdoor 2000-3000 rice is measured and can not be had problems, and its range finding characteristic also can not change because of increase power amplifier to some extent simultaneously.CSS technology, when finding range, also can carry out the transmission of wireless messages.
Simultaneously, super-broadband tech is due to the many merits such as have antinoise and strong, the multi-path resolved rate of antijamming capability is high, penetration capacity is strong, message capacity is large, positioning precision is high, show one's talent in numerous wireless location technology, become the technology of great potential in following wireless location technology.In the positioning precision of nearly 6 centimetres of indoor and outdoors, for location, its shortcoming be exactly its transmission and orientation distance generally within the scope of 10m.Super-broadband tech just completes correlative measurement distance while carrying out wireless information transfer.
The advantages such as ultrasonic technology possesses skills comparatively simply, cost is lower, but be easily subject to the impact of environmental factor.It is the positioning precision of the nearly 2-3 of indoor and outdoors centimetre, and for location, its shortcoming is exactly that its orientation distance is generally within the scope of 10m.The transmission of information can not being carried out between ultrasonic transmitter-receiver, can only find range, as wanted the transmission of wireless signal, also needing to add Transmit Receive Unit.
This patent of invention location needs installation targets equipment on golf to be measured or automobile, need to complete wireless distance finding between handheld device and golf or automobile, and complete by rotating handheld device the orientation of golf or automobile is determined, so just can complete the location to target object.
As shown in Figure 2, equipment is primarily of Power Management Unit, display unit, controller unit and wireless distance finding unit composition, and the Power Management Unit of handheld device is used for display unit, controller unit and wireless distance finding unit and powers for the architecture of handheld device; Display unit is for showing positioning position information; Controller unit for controlling the operation of display unit and wireless distance finding unit, and carries out real-time analysis and process acquisition positional information to the data of range cells; Wherein wireless distance finding unit is mainly according to the one in the schemes such as the selecting factors ultrasound waves such as finding range, application scenarios and cost, super-broadband tech (UWB) and linear frequency modulation spread spectrum (CSS).Owing to being comparatively ripe scheme based on the ranging technology of ultrasound wave, ultra broadband (UWB) and linear frequency modulation spread spectrum (CSS), this patent is with regard to not quite clear theory.
Be arranged on the architecture of the target device on golf to be measured or automobile as shown in Figure 3, target device is primarily of Power Management Unit, controller unit and wireless distance finding unit composition, and the Power Management Unit of handheld device is used for controller unit and wireless distance finding unit is powered; Controller unit is for controlling the operation of wireless distance finding unit; Wherein the wireless distance finding unit of target device needs selection consistent with the radio-cell of handheld device.

Claims (12)

1. the object localization based on range finding and tracking, it is characterized in that: first this method determines the distance between object and handheld device, by rotating the minor increment between handheld device searching object and handheld device, by handheld device in minor increment towards direction be defined as the locality of object, and by the position of minor increment determination object.
2. a kind of object localization based on range finding according to claim 1 and tracking, is characterized in that: the signal type that the range finding between described object and handheld device uses uses ultra broadband or linear frequency modulation spread spectrum.
3. a kind of object localization based on range finding according to claim 2 and tracking, is characterized in that: the range finding between described object and handheld device preferentially adopts the signal propagation time method based on linear frequency modulation spread spectrum.
4. a kind of object localization based on range finding according to claim 3 and tracking, is characterized in that: linear frequency modulation spread spectrum adopts the Chirp technology of military small-bore radar, realizes the Signal transmissions in 2.4GHz frequency range.
5. a kind of object localization based on range finding according to any one of claim 1-4 and tracking force method, is characterized in that: the computing method of the distance d between object and handheld device are d = t p * c = t roundA - t replyA + t roundB - t replyB 4 * c , wherein t roundA, t roundBfor the transmission time, t replyA, t replyBfor replying the stand-by period, C is the speed of transmission of wireless signals, t pfor the single measurement time.
6. a kind of object localization based on range finding according to claim 5 and tracking, is characterized in that: the speed of transmission of wireless signals is 3*10 8meter per second.
7. a kind of object localization based on range finding according to any one of claim 1-4 and tracking, it is characterized in that: the defining method of objective direction is, in the handheld device a compass is installed, when rotating handheld device, the direction θ of the distance D between Real-time Obtaining handheld device and object and handheld device, after rotation one is enclosed, the different directions θ of Real-time Obtaining handheld device iwherein 1≤i≤n, time handheld device and object between distance D i, wherein 1≤i≤n, by comparing the distance D between handheld device and object i, wherein 1≤i≤n, find minor increment D min, then find for minor increment D mincorresponding θ, this angle is exactly the direction of object relative to handheld device.
8. a kind of object localization based on range finding according to claim 5 and tracking, it is characterized in that: the defining method of objective direction is, in the handheld device a compass is installed, when rotating handheld device, the direction θ of the distance D between Real-time Obtaining handheld device and object and handheld device, after rotation one is enclosed, the different directions θ of Real-time Obtaining handheld device iwherein, 1≤i≤n, time handheld device and object between distance D i, wherein 1≤i≤n, by comparing the distance D between handheld device and object i, wherein 1≤i≤n, find minor increment D min, then find for minor increment D mincorresponding θ, this angle is exactly the direction of object relative to handheld device.
9. a kind of object localization based on range finding according to claim 8 and tracking, it is characterized in that: interior of articles embeds circuit, circuit is positioned at spheroid central authorities, comprises wireless distance finding module, wireless charging module, power management module and controller module composition.
10. a kind of object localization based on range finding according to claim 9 and tracking, is characterized in that: handheld device circuit comprises wireless signal transceiver module, power management module, controller module and display module composition.
11. 1 kinds use the positioning equipment based on the golf location of finding range and tracking, it is characterized in that: the location belonging to any one of location structure use claim 1-10 that it comprises and tracking.
12. a kind of positioning equipments used based on the golf location of finding range and tracking according to claim 11, is characterized in that: this positioning equipment may be used for alignment-oriented golf or automobile.
CN201410763984.9A 2014-12-03 2014-12-03 Ranging-based object positioning and tracking method and positioning equipment using method Pending CN104459675A (en)

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CN105118249A (en) * 2015-08-03 2015-12-02 深圳市爱的扣扣科技有限公司 Searching method of wireless anti-lost device
CN105738872A (en) * 2016-01-31 2016-07-06 中国人民解放军国防科学技术大学 Nonlinear processing method for suppressing false target based on double V-chirp
CN107667033A (en) * 2015-05-22 2018-02-06 高通股份有限公司 It is used for the method and apparatus of living object detection using the Digital Signal Processing of ultra-wideband radar signal
CN108427451A (en) * 2018-03-29 2018-08-21 广州视源电子科技股份有限公司 Temperature control method, device, equipment, system and computer readable storage medium
CN108919242A (en) * 2018-06-13 2018-11-30 四川合众精准科技有限公司 A kind of precise distance measurement system of the UWB module of shared crystal oscillator
CN108964867A (en) * 2018-09-28 2018-12-07 四川中电昆辰科技有限公司 A kind of distance measuring method and range-measurement system
CN109307861A (en) * 2017-07-28 2019-02-05 比亚迪股份有限公司 Vehicle, vehicle positioning method and mobile unit

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107667033A (en) * 2015-05-22 2018-02-06 高通股份有限公司 It is used for the method and apparatus of living object detection using the Digital Signal Processing of ultra-wideband radar signal
CN107667033B (en) * 2015-05-22 2020-12-11 韦特里西提公司 Method and apparatus for in vivo target detection using digital signal processing of ultra-wideband radar signals
CN105118249A (en) * 2015-08-03 2015-12-02 深圳市爱的扣扣科技有限公司 Searching method of wireless anti-lost device
CN105738872A (en) * 2016-01-31 2016-07-06 中国人民解放军国防科学技术大学 Nonlinear processing method for suppressing false target based on double V-chirp
CN109307861A (en) * 2017-07-28 2019-02-05 比亚迪股份有限公司 Vehicle, vehicle positioning method and mobile unit
CN108427451A (en) * 2018-03-29 2018-08-21 广州视源电子科技股份有限公司 Temperature control method, device, equipment, system and computer readable storage medium
CN108919242A (en) * 2018-06-13 2018-11-30 四川合众精准科技有限公司 A kind of precise distance measurement system of the UWB module of shared crystal oscillator
CN108964867A (en) * 2018-09-28 2018-12-07 四川中电昆辰科技有限公司 A kind of distance measuring method and range-measurement system
CN108964867B (en) * 2018-09-28 2021-11-02 四川中电昆辰科技有限公司 Distance measurement method and distance measurement system

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Application publication date: 20150325