CN105547297A - Indoor positioning method based on UWB positioning system - Google Patents
Indoor positioning method based on UWB positioning system Download PDFInfo
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- CN105547297A CN105547297A CN201510920280.2A CN201510920280A CN105547297A CN 105547297 A CN105547297 A CN 105547297A CN 201510920280 A CN201510920280 A CN 201510920280A CN 105547297 A CN105547297 A CN 105547297A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention provides an indoor positioning method based on a UWB positioning system; attitude sensors for sensing tag antenna attitudes are mounted on all tags requiring to be positioned, group delay parameters of antennas used by the tags and anchors respectively are pre-measured to obtain an antenna group delay parameter table, and the position of each anchor and the antenna attitude of each anchor are measured and stored; when indoor positioning is performed, tags acquire the self attitudes from the attitude sensors, the attitude parameters are transmitted to the anchors, the anchors receive the tag attitude parameters, and the tag attitude parameters and the distance are transmitted to a positioning calculating server; when the positioning calculating server performs positioning, initial calculation is performed to obtain rough positions of the tags, and the mutual direction relationship between the tag antennas and all the anchor antennas is calculated according to the rough positions and tag attitude information, the antenna group delay parameter table is searched, original distance information of the tags and the anchors is corrected, and the positions of the tags after correction is obtained through calculation once again.
Description
Technical field
The invention belongs to location technology, relate to the method based on TOA/TDOA/TOF studio inner position.
Background technology
Outdoor positioning technology is very ripe, market has multiple GNSS (GLONASS (Global Navigation Satellite System)) equipment can meet different user from meter level to millimetre-sized various demand.Such as, and in fact, numerous industry all proposes more and more higher requirement, Internet of Things industry, tourism industry, commercial location, airport, fire-fighting, public security to indoor positioning technologies, military, parking lot, hospital, robot, unmanned plane, tunnel mine etc.For indoor positioning, although there is multiple solution at present, such as WIFI fingerprint location, ultrasound wave is located, and bluetooth is located, ground magnetic orientation, pseudolite positioning, UWB location etc., but due to technology limitation and Cost Problems, not yet there is the matured product making different user satisfied as GNSS location technology at present, furtherly, these technology or positioning precision cannot meet the demands, otherwise cost is too high, is therefore difficult to promote.In numerous indoor positioning technologies solution, at present, UWB technology compares a kind of technology that can average out between accuracy and costs, is hopeful the popularization that can be developed most.
UWB is the abbreviation of UltraWideBand, is meant to ultra broadband, is that utilization is much wider than conventional communication techniques that frequency spectrum (normally hundreds of Mhz is to number GHz) communicates.Theoretical according to Shannon, channel width is wider, just has stronger antijamming capability, and required emissive power is less, and transfer rate is also faster.Therefore UWB technology can use less electric energy, carries out effective transmission of data quickly, and the transmission time of its each packet can be very short, reaches ps rank, so just to efficiently solve in indoor positioning very large problem--a multipath problem.This point is that other several technology is insoluble.
And the basis of UWB location technology utilizes UWB to communicate, the electromagnetic transmission time between metric objective, normally used is TOA (TimeofArrival, electromagnetic wave reaches the time) or TOF (TimeofFlight, the electromagnetic wave flight time) and TODA (reaching the mistiming) technology, then measure the distance between target.Current UWB technology can realize the indoor positioning that full accuracy reaches centimetre-sized, and other positioning product of decimeter grade has progressively been promoted, but UWB technological orientation precision all at present and other location technology based on TOA/TOF/TDOA all can not ensure service precision, and one of them major reason is exactly the group delay of antenna.The wave transfer time that what TOA/TOF/TDOA technology must be measured is between target, and electromagnetic wave through transmission antennas transmit to aerial, then must be obtained by receiving antenna.The skyborne transmission speed of electromagnetic wave is more stable, and transmission situation more complicated in antennas, because electromagnetic wave is from all directions of antenna to external radiation, and time delay is in all directions different, and in fact cannot ensure in communication or position fixing process, direction relations between two target antennas remains unchanged always, just because of this, distance between two targets recorded has an error caused because the group delay of all directions of antenna is different all the time, this error looks like a kind of systematic error, but but cannot directly eliminate because its margin of error is not unique.As a rule; the group delay difference in all directions of UWB antenna probably has tens ps to a few ns; and the error therefore brought to range observation just has several centimetres to tens centimetres; further; according to error propagation principle; this range error brings last positioning error and usually can be greater than range error (in general, the value of positioning error is range error
doubly).This technology barrier limits a practical key factor of UWB indoor positioning technologies, what it embodied is, a lot of product distance accuracy is under lab very high, but but error is very large when practicality, the antenna direction of reason to be the test condition in laboratory be requirement two measuring distance of target is consistent, and in reality, this condition cannot meet.
Summary of the invention
Technical matters to be solved by this invention is different due to the group delay of antenna all directions and positioning error that is that cause.
Technical scheme of the present invention provides a kind of indoor orientation method based on UWB positioning system, described UWB positioning system comprises anchor point, label and positioning calculation server, each label needing location is installed the attitude sensor of the antenna attitude being used for perception label respectively
Measure the group delay parameter of label and used the respectively antenna of anchor point in advance, obtain antenna groups delay parameter table; Implementation is, antenna is fixed on rotation platform, the group delay parameter of the whole circumference respectively in measurement space rectangular coordinate system on two orthogonal planes, measure interval according to the precision respective settings of used attitude sensor, the group delay parameter storage according to measuring gained obtains antenna groups delay parameter table;
Measure the position of each anchor point and the antenna attitude of anchor point in advance and store;
When carrying out indoor positioning, carry out following operation,
When carrying out label and anchor point and carry out range observation at every turn, label obtains the attitude of self from attitude sensor, and attitude parameter is transferred to anchor point;
When carrying out the range observation between label and anchor point at every turn, anchor point receives the attitude parameter of label and be transferred to positioning calculation server together with the distance of mark attendance book anchor point;
When positioning calculation server positions, execution comprises the following steps,
Step a, the distance sent by each anchor point, as the raw range information of label and each anchor point, initially resolves the rough position obtaining label;
Step b, according to the rough position of step a gained label and the attitude information of label, extracts and measures the position of the corresponding anchor point of gained and the antenna attitude of anchor point in advance, calculate the mutual direction relations between label antenna and each anchor point antenna;
Step c, searches antenna groups delay parameter table according to step b gained direction relations, revises the raw range information of label and each anchor point;
Steps d, resolves again according to step c gained correction result, obtains position after the correction of label.
And, the implementation of step c is, if search the antenna groups obtained between label antenna and certain anchor point antenna to postpone total amount DLgrp, then need the distance DISdgrp=DLgrp × C revised, C is the light velocity, carries out revised accurate distance DISprec=Dcoast-DISdgrp to the raw range information of label and this anchor point.
The invention has the advantages that adopted technological means is multi-sensor fusion technology, under cost improves few condition, just effectively can improve positioning precision.
Embodiment
Below in conjunction with UWB positioning system embodiment, technical solution of the present invention is specifically described.
All the other range positioning systems based on TOA/TDOA/TOF technology all can be implemented with reference to this example, put forward high-precision object to reach.
By research, the present invention proposes, although the group delay of UWB antenna all directions is different, but this retardation is metastable, not random variation, that is, the group delay frequency characteristic of each antenna, can be measured by means, obtain an antenna groups delay parameter property list, this property list has reacted this antenna group delay amount in each direction.In actual applications, as long as the attitude of perception target antenna, relative direction between further acquisition target antenna, and according to this antenna groups delay parameter property list, antenna groups are postponed to eliminate as systematic error, distance accuracy can be improved, locate further with this, just can improve positioning precision.
In UWB positioning system, generally comprise three parts, anchor point, label, and positioning calculation server.The part participating in range finding is anchor point and label two kinds of equipment, anchor point device and labeling apparatus is all provided with electromagnetic wave transceiver and communication controler and antenna.The effect of anchor point is reference mark or reference point, and the position of its antenna and attitude are fixing, and other means of its position accurately measure, and are input in system as a reference point.Label is the target needing location, the process of location is: each positioning label communicates with each anchor point respectively, to obtain the distance between label and anchor point, range measurement is transferred to positioning calculation server by each anchor point, when positioning calculation server obtains the distance between a label and two anchor points simultaneously time, just can carry out two-dimensional localization to this label, when positioning calculation server obtains the distance between a label and three anchor points simultaneously time, just can carry out three-dimensional localization to this label.Aerial position on label and attitude may change at any time, and this change can cause anchor point antenna different from the direction between label antenna, thus cause the antenna groups retardation in range measurement different, affect distance accuracy.Installation posture sensor while that the present invention proposing on label, while range finding, obtain the attitude of label, after plural anchor point being carried out to range finding (distance is now with group delay error), first time positioning calculation can be carried out, obtain the rough position of label, according to the attitude of this rough position and label, calculate the relative direction of label antenna and anchor point antenna, then the group delay parameter characteristic table of label antenna and each anchor point antenna is searched, group delay amount corresponding for this direction is eliminated, thus obtain accurate distance, then these revised accurate distances practical carry out second time and locate clearing, the exact position of label can be obtained.
On existing UWB positioning system basis, need to take following measures, thus realize design of the present invention, thus improve positioning precision:
1, each labeling apparatus of location that needs (comprises antenna and electromagnetic wave transceiver and communication control processor etc., operational communications control program on communication control processor) on all need Installation posture sensor, thus the attitude of perception label antenna (angles in all around, level three directions), in general, this needs three axle magnetometric sensors and 3-axis acceleration sensor to combine, such as HMC6343.
2, before system cloud gray model, do following preliminary work:
A, measures the group delay parameter of the antenna used
On stricti jurise, need the group delay parameter measuring each antenna, but in fact, as long as the production technology of antenna is reliable, the group delay parameter of same model antenna is closely similar, therefore generally only requires the group delay parameter of the antenna of the often kind of model used in measuring system.For reducing for the purpose of complexity, the antenna used when usually laying each anchor point is the antenna of same model, and the antenna that each label uses in like manner.The antenna that the present embodiment hypothesis anchor point and label use is the antenna of same model.If anchor point is different from the antenna model that labeling apparatus uses, then need to measure group delay parameter to it respectively.
Final required antenna groups delay parameter is the group delay parameter of whole sphere, measuring method is, the antenna of required measurement is fixed on rotation platform, the group delay parameter of the whole circumference respectively in measurement space rectangular coordinate system on two orthogonal planes, its setting of measuring interval (each angle rotated) should match with the precision of used attitude sensor, the precision of such as used attitude sensor is 5 degree, then measure interval and also should be 5 degree.
And these parameters are stored as table, use with reference table.
Table 1: antenna groups delay parameter representation case (part)
| Sequence number | Vertical direction (degree) | Horizontal direction (degree) | Group delay amount (ps) |
| 1 | 0 | 5 | 300 |
| 2 | 0 | 10 | 500 |
| 3 | 0 | 15 | 800 |
| 4 | 0 | 20 | 560 |
| 5 | 0 | 25 | 600 |
| 6 | 0 | 30 | 860 |
| ...... | ...... | ...... | ...... |
| ...... | 0 | 210 | 900 |
| ...... | ...... | ...... | ...... |
| ...... | 0 | 355 | 200 |
| ...... | 5 | 0 | 270 |
| ...... | 5 | 5 | 490 |
| ...... | ... | ... | ... |
| ...... | 355 | 355 | 290 |
B, measures position and the antenna attitude of each anchor point, and stores for subsequent use.
Table 2: anchor point position and antenna attitude representation case
3, when carrying out indoor positioning, carry out following operation:
The attitude parameter of label, when carrying out the range observation between label and anchor point at every turn, is transferred to anchor point from label by 3.1:
During concrete enforcement, can improve on label communication control program basis originally and realize.
Label communication control program is originally the transmission carrying out range finding message between anchor point, to obtain the distance between label and anchor point.Need to increase:
When each and anchor point carry out range observation, obtain the attitude of its own antenna from attitude sensor, and attitude parameter is transferred to anchor point;
3.2 when carrying out the range observation between label and anchor point at every turn, and anchor point receives the attitude parameter of label and be transferred to positioning calculation server together with the distance of mark attendance book anchor point:
During concrete enforcement, can improve on anchor point communication control program basis originally and realize.
What anchor point communication control program originally realized is the transmission carrying out range finding message between label, to obtain the distance between label and anchor point, and by the Distance Transmission between anchor point and label to positioning calculation server, calculated the position of label by positioning calculation server.Need to increase:
When each and label carry out range observation, receive the attitude information that label is sent, and attitude information is transmitted to positioning calculation server together with range information.
3.3 when positioning calculation server positions, initially resolve, according to rough position and the attitude information of label, the mutual direction relations between label antenna and each anchor point antenna is calculated according to the position of corresponding anchor point and the antenna attitude of anchor point, antenna groups delay parameter table is searched according to relation, the raw range information of label and each anchor point is revised, again resolves.
The positioning flow of positioning calculation server is modified as following flow process:
When after the raw range information DIScoast receiving positioning label and two or more anchor point and attitude information, namely these range informations are utilized to carry out first time positioning calculation (original positioning calculation algorithm can be adopted during concrete enforcement), range information now comprises the group delay of label antenna and anchor point antenna both sides, therefore can only obtain the rough position of positioning label.
Then according to rough position and the attitude information of label, search the table 2 obtained in measure 2 and the mutual direction relations calculated between label antenna and each anchor point antenna, according to this relation, search the table 1 obtained in measure 2, the antenna groups obtained between label antenna and anchor point antenna postpone total amount DLgrp, then, need revise distance DISdgrp=DLgrp × C, C are the lighies velocity.And anchor point is to the accurate distance DISprec=Dcoast-DISdgrp of label.Antenna groups postpone the summation that total amount DLgrp is label antenna and this anchor point antenna group delay parameter of respective direction in antenna groups delay parameter table.
Again position with this accurate distance DISprec and resolve (during concrete enforcement, original positioning calculation algorithm can be adopted), obtain the accurate location of label.
Such as, the raw range of the distance anchor point 1 that positioning label records is 36.58 meters, and the raw range of distance anchor point 2 is 22.05 meters, and the raw range of distance anchor point 3 is 14.71 meters, and attitude is: 0,0,0.
Carry out first time positioning calculation accordingly, obtain the rough position of label for (20.50,30.30,4.10);
And label is respectively relative to the orientation of three anchor points: (being similar to the integral multiple of 5 degree, to table look-up)
Anchor point 1: horizontal angle 30 degree, vertical angle 0 degree
Anchor point 2: horizontal angle 120 degree, vertical angle 0 degree
Anchor point 3: horizontal angle 225 degree, vertical angle 0 degree
Three anchor points are respectively relative to the orientation of label:
Anchor point 1: horizontal angle 210 degree, vertical angle 0 degree
Anchor point 2: horizontal angle 300 degree, vertical angle 0 degree
Anchor point 3: horizontal angle 45 degree, vertical angle 0 degree
For the distance between label antenna and anchor point 1, vertical angle is between the two zero (on a surface level), and the horizontal angle between them is respectively 30 degree and 210 degree, through tabling look-up 1, obtain antenna and be respectively 900ps and 860ps in the group delay amount of these two angles, when electromagnetic wave transmits between anchor point antenna and label antenna, need through these two antennas, therefore the group delay of these two antennas is contained in raw range information DIScoast, therefore antenna groups postpone total amount is 900+860=1670ps, and the range deviation caused is:
C × 1760ps=0.53 rice
Then revising later distance is:
36.58-0.53=36.06 rice
Distance successively between modifying label and three anchor points, and recalculate position with revised accurate distance, obtain revising later accurate coordinate (20.0,30.0,4.0), this locates end.
During concrete enforcement, following steps can be adopted to realize:
Comprise the following steps,
Step a, the distance sent by each anchor point, as the raw range information of label and each anchor point, initially resolves the rough position obtaining label;
Step b, according to the rough position of step a gained label and the attitude information of label, extracts and measures the position of the corresponding anchor point of gained and the antenna attitude of anchor point in advance, calculate the mutual direction relations between label antenna and each anchor point antenna;
Step c, searches antenna groups delay parameter table according to step b gained direction relations, revises the raw range information of label and each anchor point;
Steps d, resolves again according to step c gained correction result, obtains position after the correction of label.
During concrete enforcement, those skilled in the art can adopt computer software technology to realize automatic indoor positioning.
The invention provides the technical scheme that those skilled in the art can realize.Above embodiment is used for illustrative purposes only, but not limitation of the present invention, person skilled in the relevant technique; without departing from the spirit and scope of the present invention; can also make various conversion or modification, therefore all equivalent technical schemes, all fall into protection scope of the present invention.
Claims (2)
1. the indoor orientation method based on UWB positioning system, described UWB positioning system comprises anchor point, label and positioning calculation server, it is characterized in that: the attitude sensor installing the antenna attitude being used for perception label on the label of each needs location respectively
Measure the group delay parameter of label and used the respectively antenna of anchor point in advance, obtain antenna groups delay parameter table; Implementation is, antenna is fixed on rotation platform, the group delay parameter of the whole circumference respectively in measurement space rectangular coordinate system on two orthogonal planes, measure interval according to the precision respective settings of used attitude sensor, the group delay parameter storage according to measuring gained obtains antenna groups delay parameter table;
Measure the position of each anchor point and the antenna attitude of anchor point in advance and store;
When carrying out indoor positioning, carry out following operation,
When carrying out label and anchor point and carry out range observation at every turn, label obtains the attitude of self from attitude sensor, and attitude parameter is transferred to anchor point;
When carrying out the range observation between label and anchor point at every turn, anchor point receives the attitude parameter of label and be transferred to positioning calculation server together with the distance of mark attendance book anchor point;
When positioning calculation server positions, execution comprises the following steps,
Step a, the distance sent by each anchor point, as the raw range information of label and each anchor point, initially resolves the rough position obtaining label;
Step b, according to the rough position of step a gained label and the attitude information of label, extracts and measures the position of the corresponding anchor point of gained and the antenna attitude of anchor point in advance, calculate the mutual direction relations between label antenna and each anchor point antenna;
Step c, searches antenna groups delay parameter table according to step b gained direction relations, revises the raw range information of label and each anchor point;
Steps d, resolves again according to step c gained correction result, obtains position after the correction of label.
2. according to claim 1 based on the indoor orientation method of UWB positioning system, it is characterized in that: the implementation of step c is, if search the antenna groups obtained between label antenna and certain anchor point antenna to postpone total amount DLgrp, then need the distance DISdgrp=DLgrp × C revised, C is the light velocity, carries out revised accurate distance DISprec=Dcoast-DISdgrp to the raw range information of label and this anchor point.
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