CN106483495A - A kind of indoor sport tag location and speed-measuring method - Google Patents

A kind of indoor sport tag location and speed-measuring method Download PDF

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Publication number
CN106483495A
CN106483495A CN201610812129.1A CN201610812129A CN106483495A CN 106483495 A CN106483495 A CN 106483495A CN 201610812129 A CN201610812129 A CN 201610812129A CN 106483495 A CN106483495 A CN 106483495A
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base station
label
tag
speed
angle
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CN106483495B (en
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陈祝明
张吉伟
张晨曦
张新旺
徐聪
王林翰
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Hefei Sixianzhi New Technology Co ltd
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University of Electronic Science and Technology of China
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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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
    • 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
    • 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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A kind of indoor sport tag location and speed-measuring method, specifically include following steps：Step 1：Label to be measured produces linear frequency modulation continuous wave signal with base station synchronization, does FFT process to the digital medium-frequency signal that each base station obtains respectively by positive and negative frequency sweep；Step 2：CFAR judgement is done to FFT result, obtains the corresponding positive IF-FRE of positive and negative frequency sweepf + With negative IF-FREf ‑ ；Step 3：Calculate the pseudorange R of the relatively each base station of label to be measured, and the velocity component of the relatively each base station of label to be measuredv i ；Step 4：Calculate the position of outgoing label；Step 5：Calculate angle of the outgoing label with respect to each base station；Step 6：Resolve velocity magnitude and the direction of outgoing label.The invention has benefit that position and the velocity calculated of indoor sport label is only realized using locating channel, have the characteristics that high accuracy and real-time, may be directly applied to the navigation of motion label.

Description

Indoor sports tag positioning and speed measuring method
Technical Field
The invention belongs to the field of electronic communication, and relates to an indoor motion tag positioning and speed measuring method. The master classification number is G01S 5/06.
Background
With the development of intelligent technology, more and more mobile robots are currently applied to the fields of restaurant service, stream distribution and the like. The navigation technology of the robot is an important research direction in the field of intelligent robots, and position and speed information is a basic element of navigation.
Because the speed is a vector information, the current mainstream speed measurement method for the indoor mobile tag mainly includes adding an additional speed or acceleration sensor to the tag to calculate the target speed, and adding an additional electronic compass or direction sensor to determine the direction, for example, in the patent application No. 201610321161.X "indoor navigation method and apparatus" using gyroscope and direction sensor to perform real-time kalman filtering to obtain the fusion navigation information; patent application No. 201521043024.X discloses an indoor robot autonomous positioning system based on UWB technology, a current robot heading angle is calculated by a UWB coordinate terminal through an electronic compass carried by the UWB coordinate terminal; patent application No. 201510121270.2 "a wearable indoor mobile positioning terminal of belt type" utilizes the accelerometer and angular velocity meter of the inertial navigation module to respectively sense acceleration and angular velocity to carry out integral velocity and angle information. The speed measurement mode increases the cost of the label and increases the volume and complexity of the label. Another positioning method for an indoor moving tag is to use the track information obtained by the positioning system to perform track prediction processing, for example, in patent application No. 201310469003.5, "positioning method for an indoor moving robot", the positioning method uses ultrasonic positioning to obtain absolute distance information at different times and track calculation to obtain relative distance information to realize positioning of the moving robot; the method has large distance information error due to low positioning precision, and the obtained track information error is also large, and in addition, the method is not a real-time speed measuring method, and the obtained speed information is inaccurate.
Currently, indoor tag positioning generally adopts a special high-precision indoor positioning system, wherein a chirped continuous wave is a common signal form, and currently, main related technical documents include: document 1, "design and implementation of a wireless positioning system based on chirp signals" (zheng zhou university, wuxiaosheng, master thesis); document 2, patent "a precise positioning and device based on chirped continuous wave technology" (patent application No. 201310538331.6); document 3 discloses an indoor positioning device and method (patent application No. 201410416423.1). The first two documents adopt a chirp continuous wave signal system, but both of them are distance measurement systems, a tag needs to measure the distance between each base station in a time-sharing manner, and in addition, the base station and the tag (document 2, equipment a and equipment B) also need to measure the distance in a time-sharing and two-way manner during distance measurement, and these non-real-time properties all bring positioning and speed measurement errors to a moving tag. Document 3 is a range-difference system, which is superior to the first two in positioning accuracy and real-time performance, but for a moving label, a single positive sweep frequency or a single down sweep frequency cannot solve a velocity-distance coupling phenomenon, thereby causing a positioning error.
Disclosure of Invention
The invention provides a method for positioning and measuring speed of an indoor motion tag, aiming at the problems that the precision of positioning and measuring speed of a moving target in the existing indoor positioning system is not enough, and an additional speed or acceleration and direction sensor is needed.
The invention discloses a method for positioning and measuring speed of an indoor moving tag, which specifically comprises the following steps:
step 1: the tag to be tested and the base station synchronously generate a linear frequency modulation continuous wave signal; the modulation mode of the linear frequency modulation continuous wave signal is triangular wave, and FFT processing is respectively carried out on the digital intermediate frequency signals obtained by each base station according to positive and negative frequency sweep;
step 2: performing CFAR judgment on the FFT processing result to obtain the middle frequency corresponding to the positive and negative frequency sweepf + And negative intermediate frequencyf - ；
And step 3: using the median frequency obtained in step 2f + And negative intermediate frequencyf - Solving the pseudo range R of the label to be measured relative to each base station and the speed component of the label to be measured relative to each base stationv i (ii) a Subscripts denote different base stations;
and 4, step 4: subtracting every two pseudo ranges obtained in the step (3) to obtain a real distance difference between base stations, and calculating the position of the label;
and 5: calculating the angle of the label relative to each base station according to the label position obtained in the step (4);
step 6: and (5) solving the speed magnitude and direction of the label by using the speed component calculated in the step (3) and the angle obtained in the step (5).
Specifically, in the step 2, the velocity components of the tag relative to each base station are solved:
v i = c（f + + f - - 2f IF ）/2f 0
whereinf 0 For the carrier start frequency of the base station，f IF The base station and tag are frequency modulated for the starting frequency difference of the continuous wave signal.
Specifically, the pseudo range in the step 3
R= c（f + - f - ）/2µ
WhereincIn order to be the speed of light,µis the chirp rate of the continuous wave.
Specifically, the method for calculating the angle of the tag relative to each base station in step 5 is as follows:
establishing an XY two-dimensional coordinate system toxThe positive direction of the axis is taken as a reference, wherein the coordinates of the base station are (x 0 ,y 0 ) The coordinates of the label obtained in the step 4 are (A)x,y) The tag is relative to the base station andxthe included angle in the positive direction of the axis isα 0 ：
α 0 =arctan((y-y 0 )/(x-x 0 ))。
Specifically, the specific method for calculating the moving speed and direction of the tag in step 6 is as follows:
optionally selecting the two velocity components obtained in step 3v a 、v b Calculate outv a Andv b angle α, the component of greater velocity is selected, hereLabels andv b the included angle is recorded asθDeviation speed ofv a Is the positive direction;
angle of movement of the labelθComprises the following steps:
speed of the label:
v=v b /cos(θ)
further, the angle isαThe calculation method comprises the following steps:
if it isv a >0，v a Andxangle in positive direction of axisα a =α 1 ，v a <=0，v a Andxangle in positive direction of axisα a =α 1 -π；
If it isv b >0，v b Andxangle in positive direction of axisα b =α 2 ，v b <=0，v b Andxangle in positive direction of axisα b =α 2 -π；
Thenα=α b -α a ；
α 1 Andα 2 are respectively asv a Andv b corresponding base station andxthe angle in the positive direction of the axis.
Specifically, after the real distance difference between the base stations is obtained in the step 4, the position information of the label is calculated by using a hyperbolic positioning principle.
Preferably, the digital intermediate frequency signal obtained by the base station in step 1 is obtained by the base station by mixing, filtering and amplifying a linear frequency modulation continuous wave.
The method has the advantages that the position and speed of the indoor moving label are resolved only by utilizing the positioning channel, the method has the characteristics of high precision and real-time performance, and the method can be directly applied to navigation of the moving label.
Drawings
FIG. 1 is a diagram of one embodiment of a hardware system capable of implementing the method of the present invention;
FIG. 2 is a schematic diagram of an embodiment of the tag, the base station, and the controller in FIG. 1;
FIG. 3 is a schematic diagram of a complete workflow embodiment of the present invention;
FIG. 4 is a schematic diagram of a speed calculation method according to the present invention;
FIG. 5 is a schematic view showing the distribution of the positioning regions and the positioning means in example 1;
fig. 6 is a schematic diagram showing the result of the tag position solution in embodiment 1.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention is realized by adopting the existing distance measuring hardware system, in particular to an indoor positioning device disclosed in the Chinese patent indoor positioning device and method (patent application number: 201410416423.1).
As shown in fig. 1 to 3, specific embodiments of an indoor positioning device to which the method for positioning and measuring speed of an indoor moving tag according to the present invention is applied are shown.
Fig. 1 is a schematic structural diagram of an indoor positioning device to which the present invention is applied, wherein the positioning system device is composed of a controller, at least three non-collinear base stations and a plurality of positioning tags. The controller and the label are provided with communication modules, the controller has a digital signal processing function, and the controller and each base station control synchronous signals in a wired or wireless mode.
Fig. 2 is a detailed block diagram of the controller, the base station, and the tag of fig. 1. The controller comprises a synchronous control module, a ZigBee module and a signal processing module, wherein the synchronous control module of the controller is connected with the MCU of each base station through a wire; the base station comprises an antenna, an amplifier, a mixer, a linear frequency modulation generator, a filter amplifier and an ADC, wherein data collected by the ADC of the base station is transmitted to a digital signal processor through a wire, and the flow direction of a linear frequency modulation signal received by the base station and transmitted by a label is the antenna, the amplifier, the mixer, the filter amplifier and the ADC; the tag is composed of an antenna, a linear frequency modulation generator, a tag MCU and a ZigBee module, wherein after the tag MCU is synchronized with the controller through the ZigBee module, the tag MCU controls the linear frequency modulation generator to generate a linear frequency modulation signal, and the linear frequency modulation signal is sent out through the antenna.
In the embodiment of fig. 2, the MCU controls the synchronization of the communication signals; the ZigBee module in the controller is a controller communication module, the ZigBee module in the tag is a tag communication module, and ZigBee is a low-power consumption local area network protocol based on the ieee802.15.4 standard, is a short-distance and low-power consumption wireless communication technology, and is well known to those skilled in the art.
Fig. 3 shows a schematic flow chart of a complete embodiment of the present invention, and the specific flow chart is as follows:
the label to be tested and the base station synchronously generate a linear frequency modulation continuous wave signal. The modulation mode of the linear frequency modulation continuous wave signal is triangular wave, the bandwidth is B, the frequency modulation period is T, and the synchronization error isτ 0 。
The local oscillator signals of each base station are as follows:
（6）
wherein, t represents that the time is taken as a variable,T up the forward sweep phase time is represented,T down representing the time of a negative range frequency sweep stage;A 0 representing the local oscillator signal amplitude; whereinf S A carrier starting frequency for the base station;f H =f S +B(ii) a The chirp rate of the transmitted signal beingµ=2B/T。
The signals emitted by the tag to be tested are as follows:
（7）
wherein,T up the phase of the forward sweep frequency is shown,T down representing a negative sweep period, the tag carrier starting frequency isf 0 The tag carrier termination frequency isf 1 =f 0 +B,A 0 Representing the amplitude of the transmitted signal with a chirp rate ofµ=2B/T。
The intermediate frequency signals obtained by each base station after frequency mixing, filtering and amplifying are as follows:
（8）
andrepresents the fixed phase portion of the intermediate frequency signal, noted as:
（9）
taking the example of A, B, C bss in the system, if it is an a bs,f IF =f A - f 0 ，Δτ=τ a -τ 0 ，f d =f da ，τ x =τ a (ii) a Wherein,τ a =R a /crepresenting the propagation delay of the tag signal under test to base station a,f da the doppler frequency generated by the tag under test relative to the a base station,γ=γ a and the attenuation coefficient of the label to be tested receiving the A base station signal is represented. If it is B base stationf IF =f B - f 0 ，Δτ= τ b -τ 0 ，f d =f db ，τ x =τ b (ii) a Wherein,τ b =R b /crepresenting the propagation delay of the tag signal to base station B,f db the doppler frequency generated by the tag under test relative to the B base station,γ=γ b indicating the attenuation coefficient of the tag's reception of the B base station signal. If it is C base stationf IF =f C - f 0 ，Δτ=τ c -τ 0 ，f d =f dc ，τ x =τ c (ii) a Wherein,τ c =R c /crepresenting the propagation delay of the tag signal to base station C,f dc the doppler frequency generated by the tag under test relative to the C base station,γ=γ c indicating the attenuation coefficient of the tag's received C base station signal. The above-mentionedcIn order to be the speed of light,R a 、R b 、R c respectively, the distance of the tag from the base station A, B, C.
In step 1, FFT (Fast fourier transform) processing is performed on the digital intermediate frequency signals obtained by each base station according to positive and negative frequency sweeps, and then step 2 is performed.
Step 2: performing CFAR judgment on the FFT processing result to obtain intermediate frequency corresponding to positive and negative frequency sweepf + Andf - 。
（10）
whereinµIs the chirp rate of the chirped continuous wave,f IF the difference in the starting frequencies of the base station and tag fm continuous wave signals,f d the doppler frequency generated for the tag under test relative to the base station. CFAR (Constant False-Alarm Rate), Constant False Alarm Rate detection is a common judgment method for radar target detection.
And step 3: by using stepsStep 2 obtainingf + Andf - resolving the pseudo range of the label to be measured relative to each base station and the velocity component of the label to be measured relative to each base station, wherein the calculation formula is
R= c（f + - f - ）/2µ（11）
v= c（f + + f - - 2f IF ）/2f 0 （12）
The velocity component calculated in step 3 comprises a positive sign and a negative sign, wherein the positive sign represents the direction of the tag relative to the velocity component of the base station and the direction of the tag relative to the velocity component of the base station is towards the base station, and the negative sign represents the direction of the tag relative to the velocity component of the base station
In the opposite direction towards the base station.
And 4, step 4: and (4) subtracting every two pseudo ranges obtained in the step (3) to obtain the real distance difference between the base stations, and calculating the position information of the label. The method can utilize a hyperbolic positioning principle to calculate, a coordinate system is established for a positioning system before calculation by utilizing the hyperbolic positioning principle, for positioning of a two-dimensional plane, a point in a positioning area is selected as a coordinate origin, and then the coordinate origin is selectedxShaft andythe axis establishes a two-dimensional plane coordinate system, and the coordinate of the label is calculated as (x,y）。
And 4, screening the hyperbolic curve intersection points by using the positive and negative of the distance difference.
And 5: and 4, calculating the angle of the label relative to each base station according to the label position obtained in the step 4. According to the position of the label and the position of each base station, the angle of the label to be detected relative to each base station is easy to obtain. For example, one specific algorithm is given below:
to be provided withxThe positive direction of the axis is taken as a reference, wherein the coordinates of the base station are (x 0 ,y 0 ) The coordinates of the label to be detected obtained in the step 4 are (x,y) Then, thenThe tag is relative to the base station andxangle in the positive direction of the axis:
α 1 =arctan((y-y 0 )/(x-x 0 ))。 （13）
step 6: and (5) solving the speed size and direction of the label by using the speed component calculated in the step (3) and the angle information obtained in the step (5).
One embodiment of calculating the label speed and direction in step 6 is given below:
optionally, the velocity components of the tag to be detected obtained in the step 3 relative to the two base stations A and Bv a 、v b Subscripts respectively represent base stations A and B, and the angle of the label to be measured relative to each base station is calculated according to the angle obtained in the step 5v a Andv b angle of (2)α. Selecting the velocity component with greater velocity, assumingLabels andv b the included angle is recorded asθSpeed ofv b For reference, bias towardsv a Is a positive direction. Two are shown in FIG. 4Theta with velocity component v a 、v b Wherein a part representsθ>0An example of (1), part b representsθ<0An example of (a).
Angle information of the tagθComprises the following steps:
（14）
the label speed is:
v=v b /cos(θ)（15）
the invention isThe included angleαThe calculation method comprises the following steps: judgment ofv a Andv b the positive and negative of (A) is,
if it isv a >0，v a Andxangle in positive direction of axisα a =α 1 ，v a <=0，v a Andxangle in positive direction of axisα a =α 1 -π；
If it isv b >0，v b Andxangle in positive direction of axisα b =α 2 ，v b <=0，v b Andxangle in positive direction of axisα b =α 2 -π；
Thenα=α b -α a 。
Whereinα 1 Andα 2 respectively the angles of the to-be-detected label obtained in the step 5 relative to the base station.
And finally, the controller shown in fig. 2 sends the calculated position and speed information of the tag to be tested through a communication link.
A specific embodiment of the present invention is given below
In this embodiment, the indoor positioning apparatus with the structure shown in fig. 2 includes a tag to be tested, a base station, and a controller. The structure and function diagram of the tag, the base station and the controller is shown in fig. 5. The label and the controller are communicated by a ZigBee module, and the communication channel is also a coarse synchronization channel, wherein the synchronization control module in the controller directly generates local oscillation signals and transmits the local oscillation signals to each base station through isometric transmission lines to synchronize the base stations. The tag has a chirp continuous wave transmitting function and can control the transmitting time, the starting frequency and the chirp rate of a chirp continuous wave. The base station comprises a base station antenna, a base station amplifier, a linear frequency modulation generator, a frequency mixer, a filter amplifier and an ADC; the controller structure comprises a synchronous control module, a ZigBee module and a signal processing module.
In this embodiment, 3 base stations are arranged in a square room with a side length of 100 meters, the position distribution is as shown in base stations a, B and C in fig. 5, a rectangular coordinate system is established with base station a as the origin of coordinates and two sides of the room as the x and y axes. The position coordinates of the label to be detected are (40 m, 75 m), the speed is 3.8m/s, and the forward included angle of the speed direction along the x axis is 103 degrees.
After the label to be tested and the controller are in coarse synchronization, the controller controls the three base stations to be completely synchronized in a wired mode, and the base stations and the controller appoint that the label and each base station control the linear frequency modulation continuous wave generator to generate linear frequency modulation continuous waves at the same time. Tag linear frequency modulation continuous wave modulation periodT=5ms, tag carrier start frequencyf 0 5.2GHz frequency modulation bandwidthB=500MHz。
Linear frequency modulation continuous wave modulation period of local oscillation signal of each base stationT=5ms, carrier start frequencyf s =5.201GHz, i.e.f A =f B =f C =5.201GHz, bandwidth of frequency modulationB=500MHz, wherein,f IF =1MHz, intermediate frequency signal sampling ratef c =4MHz, the number of FFT points is increased by zero padding to N =218The signal-to-noise ratio is 10 dB.
Each base station obtains a digital intermediate frequency signal through frequency mixing, filtering, amplifying and ADC (analog to digital converter) sampling, each base station transmits the obtained digital intermediate frequency signal to a controller, and a digital signal processor of the controller calculates the digital intermediate frequency signal to obtain position and speed information.
The distance difference result obtained from the solution of step 4 is as follows:
the difference in distance between the tag to base station B and the tag to base station A is-37.83 (meters)
The difference between the distance from the tag to the base station C and the distance from the tag to the base station B is 17.83 (meters)
The difference between the distance from the tag to the base station C and the distance from the tag to the base station A is-20.00 (meters)
The coordinates of the label obtained in step 4 are (39.94, 75.07), and the positioning result is shown in fig. 6, where the positioning error is 0.088 (meter). In fig. 6, the abscissa and the ordinate are X, Y coordinates, respectively, and the intersection point of the three different tracks is the coordinate of the finally obtained label.
The velocity components of the tag relative to each base station are obtained by calculation in step 3 as follows:
the velocity component of the tag to be tested relative to the A base station is as follows: -2.87m/s
The velocity component of the tag to be tested relative to the B base station is as follows: 2.67m/s
The velocity component of the tag to be tested relative to the C base station is as follows: 0.64m/s
The included angle between each base station and the positive direction of the x axis from the label is calculated in the step 5 as follows: 241.91 degrees of A base station, 148.02 degrees of B base station and 22.62 degrees of C base station.
The speed of the label is 3.79m/s, the included angle between the label and the x axis is 102.74 degrees, the speed error is 0.01m/s, and the angle error is 0.26 degree calculated by the step 6.
The foregoing is directed to preferred embodiments of the present invention, wherein the preferred embodiments are not obviously contradictory or subject to any particular embodiment, and any combination of the preferred embodiments may be combined in any overlapping manner, and the specific parameters in the embodiments and examples are only for the purpose of clearly illustrating the inventor's invention verification process and are not intended to limit the scope of the invention, which is defined by the claims and the equivalent structural changes made by the description and drawings of the present invention are also intended to be included in the scope of the present invention.

Claims (8)

1. An indoor motion tag positioning and speed measuring method is characterized by specifically comprising the following steps:
step 1: the tag to be tested and the base station synchronously generate a linear frequency modulation continuous wave signal; the modulation mode of the linear frequency modulation continuous wave signal is triangular wave, and FFT processing is respectively carried out on the digital intermediate frequency signals obtained by each base station according to positive and negative frequency sweep;
step 2: performing CFAR judgment on the FFT processing result to obtain the middle frequency corresponding to the positive and negative frequency sweepf + And negative intermediate frequencyf - ；
And step 3: using the median frequency obtained in step 2f + And negative intermediate frequencyf - Solving the pseudo range R of the label to be measured relative to each base station and the speed component of the label to be measured relative to each base stationv i (ii) a Subscripts denote different base stations;
and 4, step 4: subtracting every two pseudo ranges obtained in the step (3) to obtain a real distance difference between base stations, and calculating the position of the label;
and 5: calculating the angle of the label relative to each base station according to the label position obtained in the step (4);
step 6: and (5) solving the speed magnitude and direction of the label by using the speed component calculated in the step (3) and the angle obtained in the step (5).
2. The indoor moving tag positioning and velocity measuring method according to claim 1,
in the step 2, velocity components of the tag relative to each base station are solved:
v i = c（f + + f - - 2f IF ）/2f 0
whereinf 0 For the carrier start frequency of the base station，f IF The base station and tag are frequency modulated for the starting frequency difference of the continuous wave signal.
3. The indoor moving tag positioning and velocity measuring method according to claim 1, wherein the pseudo-range in step 3
R= c（f + - f - ）/2µ
WhereincIn order to be the speed of light,µis the chirp rate of the continuous wave.
4. The indoor moving tag positioning and velocity measuring method according to claim 1, wherein the angle of the tag with respect to each base station in the step 5 is calculated as follows:
establishing an XY two-dimensional coordinate system toxThe positive direction of the axis is taken as a reference, wherein the coordinates of the base station are (x 0 ,y 0 ) The coordinates of the label obtained in the step 4 are (A)x,y) The tag is relative to the base station andxthe included angle in the positive direction of the axis isα 0 ：
α 0 =arctan((y-y 0 )/(x-x 0 ))。
5. The indoor moving tag positioning and speed measuring method according to claim 1, wherein the specific method for calculating the moving speed and direction of the tag in the step 6 is as follows:
optionally selecting the two velocity components obtained in step 3v a 、v b Calculate outv a Andv b angle α, the component of greater velocity is selected, hereLabels andv b the included angle is recorded asθDeviation speed ofv a Is the positive direction;
angle of movement of the labelθComprises the following steps:
speed of the label:
v=v b /cos(θ) 。
6. the indoor moving tag positioning and velocity measuring method of claim 5, wherein the included angle isαThe calculation method comprises the following steps:
if it isv a >0，v a Andxangle in positive direction of axisα a =α 1 ，v a <=0，v a Andxangle in positive direction of axisα a =α 1 -π；
If it isv b >0，v b Andxangle in positive direction of axisα b =α 2 ，v b <=0，v b Andxangle in positive direction of axisα b =α 2 -π；
Thenα=α b -α a ；
α 1 Andα 2 are respectively asv a Andv b corresponding base station andxthe angle in the positive direction of the axis.
7. The indoor moving tag positioning and velocity measuring method according to claim 1, wherein after the real distance difference between base stations is obtained in the step 4, the position information of the tag is calculated by using a hyperbolic positioning principle.
8. The method for positioning and measuring the speed of an indoor moving tag according to claim 1, wherein the digital intermediate frequency signal obtained by the base station in step 1 is obtained by mixing, filtering and amplifying the chirp continuous wave obtained by the base station.
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