CN105960018A - Time difference on arrival-based hyperbola location method - Google Patents

Time difference on arrival-based hyperbola location method Download PDF

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Publication number
CN105960018A
CN105960018A CN201610497916.1A CN201610497916A CN105960018A CN 105960018 A CN105960018 A CN 105960018A CN 201610497916 A CN201610497916 A CN 201610497916A CN 105960018 A CN105960018 A CN 105960018A
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China
Prior art keywords
base station
signal
destination node
reference mode
time
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Pending
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CN201610497916.1A
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Inventor
陈晓禾
苟建松
郭宇
韦阳
郭健
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Suzhou Institute of Biomedical Engineering and Technology of CAS
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陈晓禾
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Priority to CN201610497916.1A priority Critical patent/CN105960018A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The present invention relates to a time difference on arrival-based hyperbola location method. The method includes the steps of setting at least one base station capable of receiving and identifying a signal; setting at least two reference nodes capable of receiving, sending and identifying the signal, wherein the base station, any one reference node and a to-be-located target node are not collinear; broadcasting the signal by the target node; receiving, by the base station and the reference nodes, the signal sent from the target node; after the reference nodes receive the signal sent from the target node, sending a signal to the base station; and calculating a position of the target node by using a time difference of the two signals arriving the base station. A position calculation model provided in the present invention is used as an indoor location method, and is applicable to an occasion in which a person or an object carrying the target node in a region needs to be deployed and monitored by a control platform. The method has low cost and small power consumption, the system is easy to establish and network, the problem of time synchronization of different base stations and the reference nodes is solved, and the location system is simpler, is easy to expand, and has high energy efficiency.

Description

Hyperbola positioning method based on the difference asynchronous time of advent
Technical field
The present invention relates to a kind of indoor orientation method, be applicable to the poor based on the asynchronous time of advent of indoor particularly to a kind of Hyperbola positioning method.
Background technology
Common indoor orientation method has signal intensity method (RSSI), the method time of advent (TOA), differs from method the time of advent And angle of arrival method (AOA) (TDOA).
RSSI (Received Signal Strength Indicator): known base station launches power, at destination node Measure and receive power, calculate propagation loss, use location fingerprint method or propagation model method that propagation loss is converted into distance.Position Fingerprinting refers to pre-build fingerprint database, according to the signal value measured and the signal strength values comparison in fingerprint database, The position that immediate signal value is corresponding estimates position exactly.Propagation model method is decay according to signal and the relation of distance is built Signal intensity is converted into propagation distance by vertical mathematical model, solves target location according to known signal source position and location algorithm. The method is relatively big by environmental effects such as non line of sight, and poor anti jamming capability, precision is relatively low.
AOA (Angle of Arrival): according to the azimuth of the echo signal of the antenna array receiver of base station, by just Cut functional equation, calculate the relative angle of target and base station, determine that rhumb line, computer azimuth line are handed over along relative angle from base station Point i.e. can get destination node location parameter.Commonly using the antenna array receiving terminal as base station in practice, installation cost is the highest.
TOA (Time of Arrival): measure the signal propagation time between base station and destination node, and then calculate Air line distance between the two, then destination node is positioned at base station as the center of circle, on both air line distances circle as radius.Multiple The intersection point i.e. position of destination node of circle.The method requires all base stations and time synchronization between nodes, is difficult to real in actual application Existing.
TDOA (Time Difference On Arrival): a kind of mode is that base station is simultaneously emitted by two kinds of spread speed phases The biggest signal of difference, such as radiofrequency signal and ultrasonic signal, is received the time difference of two kinds of signals by destination node labelling, by time Between difference be converted into range difference and solve its position.Ultrasonic signal used by which is decayed quickly under nlos environment, stability Poor.Another kind of TDOA is achieved in that two base stations are simultaneously emitted by signal, and destination node labelling receives two paths of signals Time difference, is translated into range difference and solves positional information.This mode requires different base station time synchronized, adds system multiple Miscellaneous degree and be not easy to system extension.
Summary of the invention
The deficiency existed for prior art, this case provides a kind of hyperbolic fix side based on the difference asynchronous time of advent Method.
For achieving the above object, this case is achieved through the following technical solutions:
A kind of hyperbola positioning method based on the difference asynchronous time of advent, comprising:
At least one is set and possesses the base station receiving and recognizing signal；
Arrange at least two to possess reception, send and identify the reference mode of signal；And base station, any one reference mode With destination node three not conllinear to be positioned；
Destination node broadcast is with the signal of own identification feature；
Base station and reference mode receive the signal that destination node sends；Reference mode is receiving the letter that destination node sends After number, send the signal with own identification feature to base station；
Utilize two kinds of signals to arrive the time difference of base station, calculate the position of destination node.
Preferably, described hyperbola positioning method based on the difference asynchronous time of advent, wherein, calculate destination node position The method put is as follows:
If the time that the signal of destination node arrives base station is t1；The signal of destination node arrives reference mode, reference node The total time of the signal arrival base station of point is t2；The a length of L of destination node distance base station1, distance reference node a length of L2；Base station is L with the distance of reference mode0；
If reference mode sends the time difference of signal from receiving signal that destination node sends to reference mode to base station For δ；The spread speed of signal is v；
Then: L2+L0-L1=(t2-t1-δ)×v；
If Δ t=t2-t1, then: L1-L2=L0-(Δt-δ)×v；
If base station coordinates is (x1,y1), reference mode coordinate is (x2,y2), destination node coordinate be (x, y), K=L0-(Δ T-δ) × v, then there is an equation:
( x 1 - x ) 2 + ( y 1 - y ) 2 - ( x 2 - x ) 2 + ( y 2 - y ) 2 = K ;
Each reference mode, to there being an equation, goes out optimal solution in conjunction with all Equation for Calculating, is the seat of destination node Cursor position.
Preferably, described hyperbola positioning method based on the difference asynchronous time of advent, wherein, in described reference mode It is provided with the timing module for measuring δ.
Preferably, described hyperbola positioning method based on the difference asynchronous time of advent, wherein, also include obtaining The position of destination node is modified；Modification method includes:
If the error rate of the δ that described timing module records is θ；
Set up a correction factor: (1-θ2)/(1+θ2)
Then substitute into equation to obtain
To equation solution, obtain the coordinate position of destination node.
The invention has the beneficial effects as follows: this case proposes a kind of hyperbolic fix measuring and calculating mould based on the difference asynchronous time of advent Type, as a kind of indoor orientation method, it is adaptable to the people/thing carrying destination node in region needs controlled allotment monitoring Occasion, allocates transportation robot etc. in monitoring convict, factory in distribution medical personnel, prison in hospital, or other is strict Limit the place/secret unit of client zone of action；This method low cost power consumption is little, system is easily built, networking, it is to avoid not With the problem of time synchronized between base station and reference mode, make that alignment system is simpler, easily extend, there is the highest energy efficiency.
Accompanying drawing explanation
Fig. 1 is each Node distribution schematic diagram in region.
Fig. 2 is the schematic diagram of the localization method described in this case.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to description literary composition Word can be implemented according to this.
As it is shown in figure 1, the hyperbola positioning method based on the difference asynchronous time of advent of an embodiment, its bag are listed in this case Include:
At least one is set and possesses the base station receiving and recognizing signal；
Arrange at least two to possess reception, send and identify the reference mode of signal；And base station, any one reference mode With destination node three not conllinear to be positioned；So can carry out two-dimensional localization, three-dimensional localization to be needed, the most at least need 3 Reference mode, and these 3 reference modes and base station, destination node are non-coplanar；
Destination node broadcast is with the signal of own identification feature；
Base station and reference mode receive the signal that destination node sends；Reference mode is receiving the letter that destination node sends After number, send again the signal with own identification feature to base station；
Utilize two kinds of signals to arrive the time difference of base station, calculate the position of destination node.
Wherein, the method for concrete calculating destination node location is as follows:
If the time that the signal of destination node arrives base station is t1；The signal of destination node arrives reference mode, reference node The total time of the signal arrival base station of point is t2；The a length of L of destination node distance base station1, distance reference node a length of L2；Base station is L with the distance of reference mode0；
If reference mode sends the time difference of signal from receiving signal that destination node sends to reference mode to base station For δ；The spread speed of signal is v (propagates in atmosphere and be typically defaulted as the light velocity)；
Then: L2+L0-L1=(t2-t1-δ)×v；
If Δ t=t2-t1, then: L1-L2=L0-(Δt-δ)×v；L0Being definite value, v and δ is also definite value, and Δ t here makees Approximate processing, i.e. within the extremely short time, it is believed that the position of destination node is constant, therefore t2And t1It is all definite value, Δ t It is worth constant, it follows that, L0-(Δ t-δ) × v is definite value；I.e. destination node is one to the difference of base station and the distance of reference mode Definite value, destination node is positioned at base station and reference mode on the hyperbola as focus, and destination node instantaneous position meets hyperbola Model.
If base station coordinates is (x1,y1), reference mode coordinate is (x2,y2), destination node coordinate is that (x y), makes K=L0- (Δ t-δ) × v, then have an equation:
( x 1 - x ) 2 + ( y 1 - y ) 2 - ( x 2 - x ) 2 + ( y 2 - y ) 2 = K ;
Each reference mode, to there being above-mentioned such equation, goes out optimal solution in conjunction with all Equation for Calculating, is mesh The coordinate position of mark node.When needs carry out two-dimensional localization, only need 2 such equations can position, i.e. when two curves Between when having intersection point, optimal solution is exactly intersecting point coordinate；When there is no intersection point between curve, a scope, this model can be locked Enclosing interior point close to the two non trivial solution, just using immediate point as optimal solution, now, optimal solution is not necessarily uniquely 's.
As another embodiment of this case, wherein, reference mode is additionally provided with the timing module for measuring δ.Localization method In may preferably further comprise the position to the destination node obtained and be modified；Modification method includes:
The error rate assuming the δ that timing module records is θ；
Set up a correction factor: (1-θ2)/(1+θ2)；This correction factor is actually by all of to by mistake in this method The correction of difference all focuses on the error rate θ of δ, even if the error produced by Δ t is made approximate processing is also transferred to lead to Crossing and be modified on the correction factor designed, whole equation result can be carried out comprehensively by correction factor to a certain extent Revise.So can simplify whole correcting mode, it is not necessary to the error rate of each link is introduced correction formula and is modified.
Above-mentioned correction factor substitution equation is obtained
Ibid, to equation solution, the coordinate position of destination node is obtained.
Use fixed point proof method, destination node be fixed on known coordinate and verify, find:
Use ultra broadband (UWB) signal combination formulaCalculate Recording positioning precision in the range of 10 × 10m is 23cm, and by formula Calculating the positioning precision obtained is 20cm.
Use ZigBee signal combination formulaCalculate and survey Must positioning precision be 35cm in the range of 10 × 10m, and by formula Calculating the positioning precision obtained is 31cm.
Additionally, the positioning precision that this case method (without correction factor) obtains is compared to the conventional difference method lifting time of advent More than 20%, and the positioning precision obtained after being corrected coefficient correction error improves compared to the precision before correction error More than 10%.
Although embodiment of the present invention are disclosed as above, but it is not restricted in description and embodiment listed Using, it can be applied to various applicable the field of the invention completely, for those skilled in the art, and can be easily Realizing other amendment, therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention does not limit In specific details with shown here as the legend with description.

Claims (4)

1. a hyperbola positioning method based on the difference asynchronous time of advent, it is characterised in that including:
At least one is set and possesses the base station receiving and recognizing signal；
Arrange at least two to possess reception, send and identify the reference mode of signal；And base station, any one reference mode and treat The destination node three not conllinear of location；
Destination node broadcast is with the signal of own identification feature；
Base station and reference mode receive the signal that destination node sends；Reference mode is receiving the signal that destination node sends After, the signal with own identification feature is sent to base station；
Utilize two kinds of signals to arrive the time difference of base station, calculate the position of destination node.
2. as claimed in claim 1 based on the hyperbola positioning method that the asynchronous time of advent is poor, it is characterised in that calculate target The method of node location is as follows:
If the time that the signal of destination node arrives base station is t1；The signal of destination node arrives reference mode, the letter of reference mode Number arrive base station total time be t2；The a length of L of destination node distance base station1, a length of L of distance reference node2；Base station It is L with the distance of reference mode0；
If reference mode is δ from receiving signal that destination node sends and send to reference mode to base station the time difference of signal； The spread speed of signal is v；
Then: L2+L0-L1=(t2-t1-δ)×v；
If Δ t=t2-t1, then: L1-L2=L0-(Δt-δ)×v；
If base station coordinates is (x1,y1), reference mode coordinate is (x2,y2), destination node coordinate be (x, y), K=L0-(Δt-δ) × v, then have an equation:
( x 1 - x ) 2 + ( y 1 - y ) 2 - ( x 2 - x ) 2 + ( y 2 - y ) 2 = K ;
Each reference mode, to there being an equation, goes out optimal solution in conjunction with all Equation for Calculating, is the coordinate bit of destination node Put.
3. as claimed in claim 1 based on the hyperbola positioning method that the asynchronous time of advent is poor, it is characterised in that described reference Node is provided with the timing module for measuring δ.
4. as claimed in claim 3 based on the hyperbola positioning method that the asynchronous time of advent is poor, it is characterised in that it is right also to include The position of the destination node obtained is modified；Modification method includes:
If the error rate of the δ that described timing module records is θ；
Set up a correction factor: (1-θ2)/(1+θ2)
Then substitute into equation to obtain
To equation solution, obtain the coordinate position of destination node.
CN201610497916.1A 2016-06-29 2016-06-29 Time difference on arrival-based hyperbola location method Pending CN105960018A (en)

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Cited By (3)

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CN106658712A (en) * 2017-01-17 2017-05-10 深圳市亿道数码技术有限公司 Communication terminal positioning method system
CN108663658A (en) * 2017-03-30 2018-10-16 北京京东尚科信息技术有限公司 Indoor orientation method and device for terminal
CN117388644B (en) * 2023-06-27 2024-04-16 国网宁夏电力有限公司电力科学研究院 Power equipment partial discharge positioning method and system

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CN105137391A (en) * 2015-09-17 2015-12-09 中国矿业大学(北京) TDOA-based CSS (chirp spread spectrum) precise positioning method
CN105376857A (en) * 2015-11-27 2016-03-02 湘潭大学 Method for asynchronous positioning of ultra-wideband sensor network based on compressive sampling

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CN101583078A (en) * 2009-06-15 2009-11-18 北京邮电大学 Honeycomb locating method
CN102595593A (en) * 2012-01-11 2012-07-18 哈尔滨工业大学深圳研究生院 Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106658712A (en) * 2017-01-17 2017-05-10 深圳市亿道数码技术有限公司 Communication terminal positioning method system
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Application publication date: 20160921