CN104698434A - Ultra-wideband based indoor emergent positioning method - Google Patents
Ultra-wideband based indoor emergent positioning method Download PDFInfo
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- CN104698434A CN104698434A CN201510034053.XA CN201510034053A CN104698434A CN 104698434 A CN104698434 A CN 104698434A CN 201510034053 A CN201510034053 A CN 201510034053A CN 104698434 A CN104698434 A CN 104698434A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract
The invention provides an ultra-wideband based indoor emergent positioning method. The method is that ultra-wideband processors are respectively positioned at inside heels and tiptoes of the left and right feet; the B processor is used for continuously calculating the distance of BC and BD; the D processor is used for continuously calculating the distance of AD and BD; the initial B point coordinate (x0, y0) of the left foot is known, the distance of the AB, AD and BD sides of the right foot are known, and then the D point coordinate (x1, y1) of the right foot can be calculated; the distance of the CD, BC and BD of the left foot is known, and thus the distance of the point B can be calculated by the same way. The feet continuously alternatively move forwards, and then the location of the people can be continuously tracked. With the adoption of the method, the problems of indoor positioning navigation magnetic interference and magnetic deviation problem and the displacement error of in-situ vibration based on the stepping principle can be avoided; the final indoor positioning precision can be basically ensured, and the terrible indoor environmental interference problem can be avoided.
Description
Technical field
The present invention relates to indoor positioning technologies, particularly relate to a kind of indoor emergency localization method based on ultra broadband (Ultra Wide Band, UWB).
Background technology
In recent years, indoor positioning technologies and to be location-basedly applied in order to study hotspot.The research of existing indoor positioning technologies is divided into three directions substantially: one is architecture, mainly adopts WIFI, ZIGBEE, NFC, RFID, ultra broadband, bluetooth, the technology such as infrared, ultrasonic adopts triangle polyester fibre principle to realize; One is earth magnetism inertial navigation location, and the main geomagnetic sensor that adopts adopts direction, acceleration and gyro comprehensively to count step principle displacement calculating, and utilizes air pressure and temperature computation height to carry out 3 D stereo location; Another one be adopt beacon location, main employing often walk a segment distance place a beacon for mark personnel's working direction and distance thus carry out personnel positions tracking.
There is several feature in aspect, indoor emergency location: randomness, disastrous, interference and promptness.Randomness means that a set of indoor locating system device can must use in any building, and can not dispose any equipment in this building in advance.Disastrous meaning if easily burnt by big fire etc. in the prior deployment facility of building interior causes positioning system to be paralysed.Because building interior reinforced concrete, forceful electric power light current, complicated general layout cause wireless signal or electromagnetic signal all to receive very large interference.Emergent location needs position system device can open i.e. use, Rapid Implementation.
Architecture, owing to needing can not meet emergent randomness and disastrous feature in building interior deployment card reader or scanner in advance, is not suitable for indoor emergency location.Earth magnetism inertial navigation locator meams is owing to adopting earth magnetism as people's direction of travel, and be easily subject to the magnetic interference of indoor reinforced concrete and forceful electric power light current, accuracy is very poor, is also not suitable for indoor emergency location.Tag location one meter of label, cause personnel to wear a large amount of label, label is also easily damaged in addition, causes signal interruption, is not suitable in time emergent location fast.Generally speaking architecture stable accuracy, but be not suitable for meeting an urgent need; Earth magnetism inertial navigation location is applicable to emergent, but precision is too low; Tag location complex operation, positioning precision is lower is also not suitable for emergency room inner position.
Along with the development of location technology and the continuous increase of emergent positioning service demand, indoor emergency location technology must overcome the shortcoming of prior art, meets following condition: randomness, disastrous, interference and promptness.But above several technology, all can not fully meet these requirements.
Ultra broadband (Ultra Wide Band, UWB) technology is as the emerging technology of wireless communication field, high with its transfer rate, antijamming capability is strong, power consumption is little, good concealment and the advantage such as Effect of Carrier Frequency Offset is good, have broad application prospects in fields such as short distance high speed wireless access, radar tracking, precision rangings.Compared with traditional communication ranging technology, the temporal resolution of UWB signal is high, the time of arrival differentiating below nanosecond is poor, has good anti-multipath jamming ability, especially under micro-obstacle, has the unrivaled advantage of other communication distance measuring technology in 2 range findings.
Summary of the invention
In order to overcome the shortcoming of existing indoor positioning technologies in indoor emergency positioning field, the transmission advantage of the present invention's application ultra broadband provides a kind of indoor emergency localization method based on ultra broadband being suitable for indoor emergency location navigation, avoid indoor environment interference, meet emergent location condition, thus ensure that the indoor position accuracy under emergent scene.
The technical solution adopted for the present invention to solve the technical problems comprises the following steps: a kind of indoor emergency localization method based on ultra broadband, comprises following content:
1) ultra-broadband ranging processor is placed respectively at left and right double-legged tiptoe and heel position;
2) left foot heel ultra-broadband ranging processor is utilized to send signal to measure the distance between these two ultra-broadband ranging processors to two of right crus of diaphragm ultra-broadband ranging processors; Right crus of diaphragm heel ultra-broadband ranging processor is utilized to send signal to measure the distance between these two ultra broadband processors to two ultra-broadband ranging processors of left foot equally;
3) bipod is constantly measured the paces stepped, and forms triangle according to the distance recorded, and utilizes trigonometric function to calculate a pin relative to the coordinate to pin according to three back gauges obtained;
4) comprehensive all coordinates recorded, form pursuit path.
Four described ultra-broadband ranging processors are separately fixed at left and right both feet inner side tiptoe and heel position.
Left and right pin heel ultra-broadband ranging processor all sends signal to two ultra-broadband ranging processors of pin with microsecond with lower frequency continuously.
The concrete steps taked are:
1) first inside left and right bipod, a ultra-broadband ranging processor is installed at tiptoe and heel position respectively, and called after left foot point A processor, left heel B processor, right crus of diaphragm point C processor, right crus of diaphragm are with D processor respectively;
2) define B processor and calculate distance with C processor and D processor every a microsecond;
3) define D processor and calculate distance with A processor and B processor every a microsecond;
4) start location navigation, the coordinate of first initialization B processor, is designated as B
0(x0, y0);
5) after the coordinate of initialization B processor, the distance AD of A processor and the distance BD to B processor is recorded, according to the initial coordinate B of known B processor by D processor
0the triangle that (x0, y0) and AB, AD, BD tri-limits are formed, utilizes trigonometric function to calculate the coordinate D of D processor relative to B processor
1(x1, y1), reckoning process is: the length on AB, BD, AD tri-limits is designated as k, m, n respectively, then have:
n
2＝m
2+k
2-2m*k*cos∠B
∠B＝arccos[(m
2+k
2-n
2)/(2m*k)]
∠E＝90-∠B
x1＝x0+m*cos∠E
y1＝y0+m*sin∠E
When obtaining initial, D processor is relative to the coordinate D of B processor
1(x1, y1);
6) in like manner, after right crus of diaphragm steps a step, then the distance BD of D processor and the distance AB to A processor is recorded, according to coordinate B by B processor
0the length on (x0, y0) and now AB, BD, AD tri-limits, calculates D processor with trigonometric function equally and steps coordinate D relative to B processor after the first step
2(x2, y2);
7) when left foot steps a step again, then record after the distance BD of B processor and B processor record the distance BC of C processor, according to coordinate D by D processor
2the length on (x2, y2) and now AB, BD, AD tri-limits, calculates B processor now relative to the coordinate B of D processor with trigonometric function equally
3(x3, y3);
8) so go down, bipod constantly taken a step alternately, mutual distance measurement and carry out coordinate calculating, form a series of coordinate set x0, y0; X1, y1; X2, y2.....xn, yn; By these coordinates, location, position is carried out to personnel.
The invention solves exist in indoor emergency location magnetic interference, magnetic biasing to, the error problem that adopts meter step principle to produce, meeting emergent location randomness, promptness and the characteristic condition such as disastrous.
Accompanying drawing explanation
Fig. 1 is localization method overall schematic;
Fig. 2 is bipod relative coordinate schematic diagram calculation.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.But those skilled in the art will appreciate that following examples are not the unique restriction done technical solution of the present invention, every any equivalents of doing under technical solution of the present invention Spirit Essence or change, all should be considered as belonging to protection scope of the present invention.
With reference to Fig. 1, implementation step that localization method of the present invention is taked is:
1) first inside the bipod of left and right, a ultra-broadband ranging processor is installed at tiptoe and heel position respectively, and called after left foot point A processor, left heel B processor, right crus of diaphragm point C processor, right crus of diaphragm are with D processor respectively.This ultra broadband processor puts a multiple spurs respectively from multidirectional range sensor in fact exactly on left and right pin heel, tiptoe, measures distance between points, determines position a little.
2) B processor is allowed to calculate the distance of itself and C processor and D processor every a microsecond, the distance between Distance geometry B, D namely between B, C.
3) D processor is allowed to calculate the distance of itself and A processor and B processor every a microsecond, the distance between Distance geometry B, D namely between A, D.
4) start location navigation, first the coordinate of initialization B processor is designated as B
0(x0, y0).First initialization D processor is also passable, will be now with D processor for benchmark, calculates the change in location of another pin relative to it.
5) after the coordinate of initialization B processor, the distance AD of A processor is recorded and (in fact A, B processor distance AB immobilizes after the distance BD of B processor, B processor record the distance AB of A processor by D processor, initially just can be determined by system, CD is also like this), according to the initial coordinate B of known B processor
0the triangle that (x0, y0) and AB, AD, BD tri-limits are formed, utilizes trigonometric function to calculate the coordinate D of D processor relative to B processor
1(x1, y1).Reckoning process is as shown in Figure 2:
Known initial heel coordinate B
0the length on (x0, y0) and known AB, BD, AD tri-limits, is designated as k, m, n respectively, calculates the coordinate D of D processor relative to B processor
1(x1, y1) is:
n
22+k
2-2m*k*cos∠B
∠B＝arccos[(m
2+k
2-n
2)/(2m*k)]
∠E＝90-∠B
x1＝x0+m*cos∠E
y1＝y0+m*sin∠E
According to B
0(x0, y0) and D
1(x1, y1) learns the initial residing position of personnel.
6) in like manner, after right crus of diaphragm steps a step (as shown in Figure 1), then the distance BD of D processor and the distance AB to A processor is recorded, recorded the distance AD of A processor by D processor after, according to coordinate B by B processor
0the length on (x0, y0) and now AB, BD, AD tri-limits, same trigonometric function can calculate the coordinate D relative to B processor when D processor steps the first step
2(x2, y2), calculates process and step 5) method the same, the position known residing for personnel are now can be sentenced thus.
7) when left foot steps a step again, the distance BD of B processor is recorded again and (in fact C, D processor distance CD immobilizes to the distance CD of C processor by D processor, initially just can be determined by system, and after the distance BC being recorded C processor by B processor, according to coordinate D
2the length on (x2, y2) and now AB, BD, AD tri-limits, same trigonometric function can calculate B processor now relative to the coordinate B of D processor
3(x3, y3), calculates process and step 5) method the same, the position known residing for personnel are now can be sentenced thus.
8) method like this, subsequent continuation calculates D
4(x4, y4), B
5(x5, y5), so goes down, and bipod is constantly taken a step alternately, mutual distance measurement and carry out coordinate calculating, forms a series of coordinate set (x0, y0; X1, y1; X2, y2.....xn, yn).Location, position can be carried out to personnel by these coordinates.
Utilize ultra broadband processor track and localization, signal is the signal with very large frequency bandwidth.Relative to other positioning system existing at present, utilize UWB signal to realize localization and tracking and there is following advantage: (1) has high distance resolution.Range resolution and signal bandwidth are inversely proportional to, and due to ultra broadband characteristic, the Range resolution precision of UWB is hundreds and thousands of times of other system.(2) good penetration capacity.UWB signal has good penetration capacity to the barrier such as buildings, body of wall, and this makes UWB positioning system can normally work at the coverage hole of general signal.(3) diversity reception is conducive to.The time discrete burst pulse of UWB to be time width be ns level, this can directly distinguish most of multipath signal and direct signal in time.(4) frequency spectrum share.Due to extremely low power spectrum density, UWB signal is equivalent to noise to other narrowband systems, does not thus substantially form interference to other wireless traffic in residing frequency range; Other arrowband radio service signal, for so wide frequency band, is only equivalent to mono-tone interference, is easy to be separated with UWB signal.Therefore UWB signal can take Conventional communication systems band operation, realizes the recycling of frequency resource, and this is more attractive in the epitonic advanced information society of frequency resource.(5) multi-functional, structure is simple.Can also carry out the data communication of low rate while completing locating and tracking, location greatly extends systematic difference scope with the fusion of communication function; Because UWB is general without sinusoidal carrier, thus without reception if system, almost digital hardware configuration, cause system to realize structure simple, low in energy consumption, stream time is long.
Claims (4)
1. based on an indoor emergency localization method for ultra broadband, it is characterized in that, comprise following content:
1) ultra-broadband ranging processor is placed respectively at left and right double-legged tiptoe and heel position;
2) left foot heel ultra-broadband ranging processor is utilized to send signal to measure the distance between these two ultra-broadband ranging processors to two of right crus of diaphragm ultra-broadband ranging processors; Right crus of diaphragm heel ultra-broadband ranging processor is utilized to send signal to measure the distance between these two ultra broadband processors to two ultra-broadband ranging processors of left foot equally;
3) bipod is constantly measured the paces stepped, and forms triangle according to the distance recorded, and utilizes trigonometric function to calculate a pin relative to the coordinate to pin according to three back gauges obtained;
4) comprehensive all coordinates recorded, form pursuit path.
2. the indoor emergency localization method based on ultra broadband according to claim 1, is characterized in that: four described ultra-broadband ranging processors are separately fixed at left and right both feet inner side tiptoe and heel position.
3. the indoor emergency localization method based on ultra broadband according to claim 1, is characterized in that: left and right pin heel ultra-broadband ranging processor all sends signal to two ultra-broadband ranging processors of pin with microsecond with lower frequency continuously.
4. the indoor emergency localization method based on ultra broadband according to claim 1 or 2 or 3, is characterized in that: the concrete steps taked are:
1) first inside left and right bipod, a ultra-broadband ranging processor is installed at tiptoe and heel position respectively, and called after left foot point A processor, left heel B processor, right crus of diaphragm point C processor, right crus of diaphragm are with D processor respectively;
2) define B processor and calculate distance with C processor and D processor every a microsecond;
3) define D processor and calculate distance with A processor and B processor every a microsecond;
4) start location navigation, the coordinate of first initialization B processor, is designated as B
0(x0, y0);
5) after the coordinate of initialization B processor, the distance AD of A processor and the distance BD to B processor is recorded, according to the initial coordinate B of known B processor by D processor
0the triangle that (x0, y0) and AB, AD, BD tri-limits are formed, utilizes trigonometric function to calculate the coordinate D of D processor relative to B processor
1(x1, y1), reckoning process is: the length on AB, BD, AD tri-limits is designated as k, m, n respectively, then have:
n
2＝m
2+k
2-2m*k*cos∠B
∠B＝arccos[(m
2+k
2-n
2)/(2m*k)]
∠E＝90-∠B
x1＝x0+m*cos∠E
y1＝y0+m*sin∠E
When obtaining initial, D processor is relative to the coordinate D of B processor
1(x1, y1);
6) in like manner, after right crus of diaphragm steps a step, then the distance BD of D processor and the distance AB to A processor is recorded, according to coordinate B by B processor
0the length on (x0, y0) and now AB, BD, AD tri-limits, calculates D processor with trigonometric function equally and steps coordinate D relative to B processor after the first step
2(x2, y2);
7) when left foot steps a step again, then record after the distance BD of B processor and B processor record the distance BC of C processor, according to coordinate D by D processor
2the length on (x2, y2) and now AB, BD, AD tri-limits, calculates B processor now relative to the coordinate B of D processor with trigonometric function equally
3(x3, y3);
8) so go down, bipod constantly taken a step alternately, mutual distance measurement and carry out coordinate calculating, form a series of coordinate set x0, y0; X1, y1; X2, y2.....xn, yn; By these coordinates, location, position is carried out to personnel.
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