CN106550451B - A kind of multiuser ultra-wideband indoor locating system - Google Patents
A kind of multiuser ultra-wideband indoor locating system Download PDFInfo
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- CN106550451B CN106550451B CN201610940749.3A CN201610940749A CN106550451B CN 106550451 B CN106550451 B CN 106550451B CN 201610940749 A CN201610940749 A CN 201610940749A CN 106550451 B CN106550451 B CN 106550451B
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- base station
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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
- 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
Abstract
The invention belongs to ultra-wideband communications fields, in particular to can be used for indoor positioning, safe rescue, the multiuser ultra-wideband indoor locating system of assistant GPS navigation.Multiuser ultra-wideband indoor locating system includes 4 reference base stations, 1 mobile tag, the whole unifications of the clock of the base station and label to fiducial time axis；Base station 1 is main website, coordinates the signal communication timing of system, while providing its temporal information to other all base stations and label；Base station 2-4 is secondary station, under the control of base station 1, provides temporal information to label respectively；Label is the user for needing to be positioned in practice, by the temporal information for receiving base station 1-4.The system, by establishing the linear corresponding relation of clock and actual distance, resolves the relevant parameter in clock correction model, solves time synchronization problem present in UWB positioning system by establishing unified correction model to system clock.
Description
Technical field
The invention belongs to ultra-wideband communications fields, in particular to can be used for indoor positioning, safe rescue, assistant GPS navigation
Multiuser ultra-wideband indoor locating system.
Background technique
Ultra wide band (UWB:ultra wide band) technology is a kind of novel wireless communication technique, has nanosecond rank
Time resolution, high transmission speeds, it is insensitive to channel fading, have the advantages that good ability of anti-multipath, answer extensively
For real-time positioning system.UWB positioning principle presses the difference of its measurement parameter, can be divided into based on received signal strength method
(RSSI), based on reception signal time method (TOA) and based on reception signal angle method (AOA).Because TOA algorithm is simple, accredited
Road multi-path fading effects are relatively small, and positioning accuracy is higher, so the algorithm is in current UWB positioning system using the widest
It is general.
Traditional one way ranging TOA algorithm is the absolute time by signal propagation between measurement reference base station and mobile tag
Position resolving is carried out, which requires harshness for synchronousness, and ideally all nodes are the same clock.
Improved TDOA algorithm is utilized by measuring the time difference that signal is propagated between different reference base stations and same mobile tag
Hyperbola principle carries out positioning calculation.Although TDOA algorithm does not require all nodes using a common clock, reduce pair
In the demand of synchronousness.But from position calculation accuracy angle, TDOA algorithm remains that all reference base stations
Keep clock synchronous.It can be seen that time synchronization problem is the key that the factor based on signal reception time location algorithm.In order to
Guarantee that the range accuracy of UWB positioning system reaches Centimeter Level, the time deviation of positioning system will at least be controlled in ns rank.
Summary of the invention
The purpose of the present invention is to provide a kind of multiuser ultra-wideband indoor locating systems based on DWM1000 module.
The object of the present invention is achieved like this:
Multiuser ultra-wideband indoor locating system includes 4 reference base stations, 1 mobile tag, the base station and label
Clock it is all unified to fiducial time axis；Base station 1 is main website, coordinates the signal communication timing of system, while all to other
Base station and label provide its temporal information；Base station 2-4 is secondary station, under the control of base station 1, provides time letter to label respectively
Breath；Label is the user for needing to be positioned in practice, by receiving the temporal information of base station 1-4, completes positioning；Mobile tag is only
It is passive signal of the reception from base station, two-way communication is not carried out with base station, increase and decrease number of labels does not influence system base-station
Signal communication timing, system can position unlimited amount user simultaneously.
The clock correction model for establishing the base station and label is all unified to same fiducial time by the clock of system
Axis.
Linear corresponding relation between the clock correction model and actual distance information is established, clock model parameters are found out,
Realize that clock is synchronous.
The system signal exchange mechanism is established, base station provides temporal information, and label passively receives base station signal, realizes
It is unrestricted to position number of users.
The beneficial effects of the present invention are:
1. the system is by establishing unified correction model to system clock, by establishing the linear right of clock and actual distance
It should be related to, resolve the relevant parameter in clock correction model, solve time synchronization problem present in UWB positioning system.
2. base station provides temporal information in the system, label is in passive reception state always, and the signal communication of system is
One direction, exchange mechanism have high flexibility, and increase and decrease number of labels does not influence the signal communication timing of system base-station, and system can
Unlimited amount user is positioned simultaneously.
3. the original design intention of the system is exactly to solve the problems, such as UWB positioning system practical application, system work
Making mode has very strong hardware platform compatibility, practical.
Detailed description of the invention
Fig. 1 is the system locating scheme schematic diagram that the present invention designs.
Fig. 2 is the 3 d space coordinate system established when the system that the present invention designs works under practical indoor nlos environment
Schematic diagram.
Fig. 3 is system label X-direction positioning when static test under practical indoor nlos environment that the present invention designs
Precision result.
Fig. 4 is system label Y direction positioning when static test under practical indoor nlos environment that the present invention designs
Precision result.
Fig. 5 is system label Z-direction positioning when static test under practical indoor nlos environment that the present invention designs
Precision result.
Fig. 6 be when the system that designs of the present invention is dynamically tested under practical indoor nlos environment label motion track in XY
Projection in plane.
Fig. 7 be when the system that designs of the present invention is dynamically tested under practical indoor nlos environment label motion track three
Tie up the projection of coordinate system.
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
The present invention provides a kind of multiuser ultra-wideband indoor locating system, mainly for solving based on reception signal time method
(TOA) time synchronization problem and the UWB of current practice in ultra wide band (UWB:ultra wide band) positioning system
Number of users limitation problem is positioned in positioning system.Groundwork of the invention is to realize system time precisely to synchronize and position
Number of users is unrestricted.The present invention establishes unified correction model to the clock of reference base station and mobile tag in system.It is logical
It crosses and establishes linear corresponding relation between actual distance and clock correction model, carry out positioning experiment under ideal sighting distance (LOS) environment
Acquisition time and range data calculate the parameter in clock correction model using least square method, and establish on this basis
Complete set signal communication mechanism realizes high accuracy positioning.In actual test process, the UWB that the present invention designs positions system
The Static positioning accuracy united under non line of sight (NLOS) environment indoors is within 10cm, dynamic locating accuracy 20cm or so.It is theoretical
It analyzes and the experimental results showed that the UWB indoor locating system that the present invention designs has very strong practicability.
Compared to other positioning systems, this system carries out modeling amendment for the clock of base station in system and label, all
In unification to standard time axis, and the system signal AC machine that can be extended to unlimited number of users is proposed on this basis
System, solves in practical application the time synchronization problem of UWB positioning system and positioning user is limited, rubato cannot ask
Topic.
Technical solution:
The realization of multiuser ultra-wideband indoor locating system of the present invention mainly includes the following aspects:
1. in view of there are clock drift motions and initial relative to fiducial time axis for the clock source of different base stations and label
Time of day offsets establishes the linear model between clock, and system clock is all unified to fiducial time axis.
2. establishing the system signal exchange mechanism of high flexible: base station 1 is main website, coordinates the signal communication timing of system,
Its temporal information is provided to other all base stations and label simultaneously.Base station 2-4 be secondary station, under the control of base station 1, respectively to
Label provides temporal information.Label is the user for needing to be positioned in practice, by receiving the temporal information of base station 1-4, is completed
Positioning.Label is only passive to receive the signal from base station, two-way communication is not carried out with base station, therefore increase and decrease number of labels
The signal communication timing of system base-station is not influenced, and system can position unlimited amount user simultaneously.
3. application Newton iteration method carries out spatial three-dimensional position resolving.
As shown in Figure 1: the linear correction model of the clock of system proposed by the present invention are as follows:
T=ki×t(i)+t0i (1)
In formula, at the time of t is indicated on fiducial time axis, i represents i-th of base station (label), kiFor i-th of base station (label)
Relative to the drift rate of fiducial time axis, t(i)It indicates i-th of base station (label) moment, corresponds to t moment on fiducial time axis,
t0iIt is initial clock deviation existing for i-th of base station (label) moment and axis moment fiducial time.
Assuming that base station 1 is in t(1)Moment sends positioning signal to remaining all base station and label, and base station 2 and label are distinguished
In t(12)And t(15)The positioning signal that reception is sent to base station 1.Then base station 2 is in t(2)Moment sends positioning letter to label
Number, label is in t(25)Positioning signal of the reception to base station 2.If base station 2 was sent between the time between signal and reception signal
It is divided into Δ t(2), the time interval that label receives the positioning signal of base station 1 and base station 2 is Δ t(21).It then can be with according to the above-mentioned time
It calculates:
d15=c × (t(15)|Time shaft-t(1)|Time shaft)=c × (k5×t(15)+t05-k1×t(1)-t01) (2)
d12=c × (t(12)|Time shaft-t(1)|Time shaft)=c × (k2×t(12)+t02-k1×t(1)-t01) (3)
d25=c × (t(25)|Time shaft-t(22)|Time shaft)=c × (k5×t(25)+t05-k2×t(22)-t02) (4)
Above three equation left side of the equal sign indicate between corresponding base station or base station between label at a distance from.To above three etc.
Formula merges operation, eliminates initial clock deviation existing for base station (label) moment and axis moment fiducial time, obtains:
d12+d25-d15=λ5×Δt(21)-λ2×Δt(2) (5)
λ in above formulai=c × ki.Similarly, available following equations:
d13+d35-d15=λ5×Δt(31)-λ3×Δt(3) (6)
d14+d45-d15=λ5×Δt(41)-λ4×Δt(4) (7)
The coefficient lambda in above three equation is converted by the time synchronization problem of system known to above-mentioned (5)-(7) equationi
Solve problems.
Coefficient lambdaiSolution can be realized by following methods: the reasonable position mounted base station 1- in ideal view distance environment
4, because reference base station is artificially to be mounted on fixed position, base station 1, base station 2, base station 3, known to 4 installation site of base station.
Assuming that certain moment, label is still in fixed known location and carries out above-mentioned signal communication mechanism, then above-mentioned (5), (6), (7) equation left side
Known to the range information of side.If the time on the right side of equation can measure, then can be passed through according to Classical Least-Squares multiple
Position experiment solves λ2, λ3, λ4, λ5Optimal approximation solution.
Discussed above is in situation known to label position, how by Classical Least-Squares coefficient lambda is solvedi,
It is now discussed under label position unknown situation, how system realizes positioning.
Base station installation site is fixed when system worked well and it is known that signal communication mechanism is kept not between base station and label
Become, then by equation (5), (6), first item moves to right to obtain in (7):
d25-d15=λ5×Δt(21)-λ2×Δt(2)-d12 (8)
d35-d15=λ5×Δt(31)-λ3×Δt(3)-d13 (9)
d45-d15=λ5×Δt(41)-λ4×Δt(4)-d14 (10)
Items are known quantity on the right of above three equation, therefore can calculate the value of three equations, false respectively
If the value of three equations is d1, d2, d3.
Assuming that base station 1, base station 2, base station 3, the position coordinates of base station 4 are respectively (X1, Y1, Z1), (X2, Y2, Z2), (X3,
Y3, Z3), (X4, Y4, Z4), the true coordinate of label is (X, Y, Z).Then above three equation subtracts each other available following two-by-two
Equation group:
Equation group (11) is Nonlinear System of Equations, is not easy to solve.Therefore use Newton iteration method by above-mentioned nonlinear equation
Group linearisation solves the position coordinates that can constantly update label.
According to being described above, the core of Time synchronization algorithm is the distance calibration time.The problems such as in order to reduce multipath pair
In the interference of the algorithm accuracy, selection first carries out static ranging for the system that the present invention designs under ideal view distance environment
Experiment, determines clock correction model relevant parameter coefficient lambdai.Specific experiment process is as follows:
(1) selection is spacious, and base station 1-4 is fixed on suitable position by the ideal view distance environment of no personnel's interference.It is measured with ruler
Linear distance d between antenna for base station out12, d13, d14。
(2) label is fixed on a certain position, the linear distance d between antenna for base station and label antenna is measured with ruler15,
d25, d35, d45.System works a hour, acquires data sample.
(3) step (2) are repeated, replaces label position every time, carry out 10 repeated experiments altogether.
(4) sample data obtained by least square method to experiment carries out Mathematical treatment, solves parameter lambdaiIt is best close
Like solution.
The present invention practical indoor nlos environment in the scheme of installation tested it is as shown in Figure 2.Indoors will first
Label is fixed at point (2.485m, 4.492m, 1.483m), carries out static immobilization test.Fig. 3, Fig. 4, Fig. 5 show that the present invention is set
Static positioning accuracy of the system of meter indoors in the case of non line of sight can achieve within 10cm.In order to further verify the present invention
Practicability, dynamic experiment is carried out under nlos environment indoors.In an experiment, label is fixed on experimenter (label
Height is 1.018m), laboratory technician walks too long 4.000m, wide 1.000 meters of rectangle under established coordinate system clockwise
Route.Due in experiment personnel walk about during can generate shake, so necessarily comprising one in the positioning accuracy result of system
A artificial random disturbances.But present invention positioning accuracy under the experimental situation can be seen that by Fig. 6, Fig. 7 and can achieve 20cm
Left and right, still can keep high position precision.
Claims (1)
1. a kind of multiuser ultra-wideband indoor locating system includes 4 reference base stations, 1 mobile tag, it is characterised in that: institute
The clock of the base station and label stated is all unified to fiducial time axis；Base station 1 is main website, coordinates the signal communication timing of system,
Its temporal information is provided to other all base stations and label simultaneously；Base station 2-4 be secondary station, under the control of base station 1, respectively to
Label provides temporal information；Label is the user for needing to be positioned in practice, by receiving the temporal information of base station 1-4, is completed
Positioning；Mobile tag is only passive to receive the signal from base station, does not carry out two-way communication with base station, increases and decreases number of labels
The signal communication timing of system base-station is not influenced, and system can position unlimited amount user simultaneously；
The clock correction model for establishing the base station and label is all unified to same fiducial time axis by the clock of system；
Linear corresponding relation between clock correction model and actual distance information is established, clock model parameters are found out, realizes clock
It is synchronous, the linear correction model of the clock of system are as follows:
T=ki×t(i)+t0i
In formula, at the time of t is indicated on fiducial time axis, i represents i-th of base station, kiIt is i-th of base station relative to fiducial time axis
Drift rate, t(i)It indicates i-th of base station moment, corresponds to t moment on fiducial time axis, t0iIt is i-th of base station moment and benchmark
Initial clock deviation existing for the time shaft moment；
The system signal exchange mechanism of foundation, base station provide temporal information, and label passively receives base station signal, realize positioning user
Quantity is unrestricted；
The system signal exchange mechanism are as follows: base station 1 is main website, coordinates the signal communication timing of system, while to other institutes
There are base station and label to provide its temporal information；Base station 2-4 is secondary station, under the control of base station 1, provides the time to label respectively
Information；Label is the user for needing to be positioned in practice, by receiving the temporal information of base station 1-4, completes positioning；Label is
It is passive to receive the signal from base station, two-way communication is not carried out with base station, therefore increase and decrease number of labels not influencing system base
The signal communication timing stood, system can position unlimited amount user simultaneously.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109085789A (en) * | 2017-06-13 | 2018-12-25 | 郑州联睿电子科技有限公司 | The intelligent management system positioned based on ultra wide band and iBeacon high-precision three-dimensional |
| CN108124309B (en) * | 2017-12-13 | 2020-04-07 | 成都四相致新科技有限公司 | Navigation type distance difference calculating method, TDOA positioning method and TDOA positioning device |
| CN108737964B (en) * | 2018-04-08 | 2020-11-06 | 四川省靓固智能科技有限公司 | UWB indoor positioning system and positioning method thereof |
| CN108882149B (en) * | 2018-06-20 | 2021-03-23 | 上海应用技术大学 | NLOS compensation positioning method of distance correlation probability |
| EP3846401A4 (en) * | 2018-08-31 | 2022-04-27 | Robert Bosch GmbH | Method and apparatus for detecting signal propagation type |
| CN109640268B (en) * | 2018-12-14 | 2020-12-25 | 长沙智能机器人研究院有限公司 | Networking method of ultra-wideband wireless communication indoor positioning system |
| CN109696167A (en) * | 2019-02-26 | 2019-04-30 | 重庆邮电大学 | A kind of UWB indoor three-dimensional positioning system and method |
| CN110177337A (en) * | 2019-05-30 | 2019-08-27 | 河南大学 | Indoor orientation method and indoor positioning shopping cart system |
| CN110806562A (en) * | 2019-11-21 | 2020-02-18 | 南京工程学院 | Distance measuring device based on UWB and distance measuring time sequence method thereof |
| CN113660603B (en) * | 2021-08-13 | 2024-01-12 | 苏州真趣信息科技有限公司 | Positioning system architecture and positioning method based on UWB technology |
| CN113671441B (en) * | 2021-09-10 | 2023-10-03 | 哈尔滨工程大学 | Indoor passive real-time positioning method based on ultra-wideband technology |
| CN115209518B (en) * | 2021-11-01 | 2023-11-10 | 北京金坤科创技术有限公司 | Time synchronization method of UWB system based on TOA |
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