CN106656889B - A kind of UWB indoor localization method based on CW with frequency modulation - Google Patents
A kind of UWB indoor localization method based on CW with frequency modulation Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/10—Frequency-modulated carrier systems, i.e. using frequency-shift keying
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- H—ELECTRICITY
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- 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
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Abstract
The present invention proposes a kind of UWB indoor localization method based on CW with frequency modulation, and this method is made of three modules: tab end is entity to be positioned, is sent out CW with frequency modulation；System is equipped with several base stations, each base station is equipped with twin aerial, the different CW with frequency modulation that is delayed is received on two antennas, the modules such as mixing, filtering, sampling, DFT are passed sequentially through later and extract reaching time-difference (TDOA) information, and TDOA information is sent to server by each base station；The TDOA information that the comprehensive each base station of server is sent obtains the location information of label to be positioned by solving Nonlinear least squares optimization.The system supports multi-tag to position simultaneously, and CW with frequency modulation has been introduced into indoor positioning technologies for the first time, and then range difference information has been carried on the frequency information for being easy to extract.This system positioning accuracy reaches Centimeter Level, and compared to traditional indoor positioning technologies, positioning accuracy is significantly increased.
Description
Technical field
The present invention relates to indoor positioning technologies field, especially a kind of UWB indoor based on CW with frequency modulation positions system
System and localization method.
Background technique
In recent years, with the development of wireless communication field, context-aware services gradually become a reality, and service object
Location information be one of most important environmental parameter.Traditional global positioning system (Globle Positioning
System, GPS) and cellular network location technology, more accurately positioning and navigation Service can be provided for outdoor user.But
It is, due to the influence of the barriers such as furniture, personnel and wall, to make wireless signal that energy attenuation occur, pass indoors in environment
Speed and direction variation is broadcast, causes traditional outdoor wireless location technology that can generate bigger error in environment indoors.
Indoor wireless location technology becomes research hotspot in recent years as a result,.Interior based on multiple technologies such as wifi, visible light, bluetooths
Positioning system is succeeded in developing in succession, is widely used in business, public service and military field.
Ultra wide band (UWB) is used as a kind of novel short-distance wireless communication technology, it transmits information, phase using ultra-narrow pulse
Ying Di occupies very wide bandwidth.UWB has many advantages, such as high-speed, low cost, low-power consumption, accurate positioning, can be used as accurate room
The physical-layer techniques of interior positioning, have broad application prospects.
Common location algorithm can be divided into two major classes according to the difference of information needed in position fixing process: be based on ranging
(range-based), ranging is unrelated (range-free).Wherein the unrelated algorithm of ranging does not need to determine distance and angle information,
The information such as the general character are realized according only to network.Main algorithm has: centroid algorithm, APIT (approximate point-in-
Triangulation teat) subtriangular interior method of testing, DV-Hop etc..Location algorithm based on ranging needs measurement point
To the distance or angle information of point, trilateration, triangulation or maximum likelihood estimate calculate node position are then used
It sets.Main algorithm has: TOA (time of arrival), TDOA (Time Difference Of Arrival), AOA (Angle
of Arrival)、RSSI(Received Signal Strength Indication)。
Currently, the research about UWB indoor location technology is just unfolded in academia, it is recent study hot spot, but fixed
Position precision also there is ample room for improvement space.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of UWB indoor positioning sides with more high position precision
Method.
In order to realize the above technical effect, the technical scheme adopted by the invention is as follows:
A kind of UWB indoor localization method based on CW with frequency modulation, method includes the following steps:
(1) Indoor Positioning System Using Ultra Wideband Radio based on CW with frequency modulation is constructed, which includes: server, N number of label letter
Number receive base station, trigger signal generates base station and at least one label；Each label signal receives base station and is equipped with M to day
Line, the receiving end of each pair of antenna is at a distance of L meters；
(2) each refresh cycle is evenly dividing as T time slot, each label occupies a time slot, any two label respectively
Occupied time slot is different；
(3) trigger signal generates base station and receives base station to all labels and label signal when each refresh cycle arrives
Send trigger signal；
(4) label is as entity to be positioned, after receiving the trigger signal, locally start timing, and oneself
Base station when time slot arrives into communication range sends frequency-modulated continuous-wave signals；
(5) label signal receives base station after receiving the trigger signal, is locally starting timing, to determine oneself when each
Label corresponding to the frequency-modulated continuous-wave signals that gap receives；
(6) base station i is received for any one label j and label signal, label signal receives base station i and receiving label
After the frequency-modulated continuous-wave signals that j is sent, the frequency-modulated continuous-wave signals that each pair of antenna receives successively are mixed, low pass filtered
Wave, digital sample and DFT transform processing, calculate the reaching time-difference of the frequency-modulated continuous-wave signals from label j on each pair of antenna
Information；And calculated total M reaching time-difference information is uploaded to server；
(7) server receives the reaching time-difference information of base station transmission according to each label signal and N number of label signal connects
The position of each antenna of base station is received, is constructed to calculate the problem of label position is target problem model, by Solve problems model,
Obtain label position.
Specifically, the frequency-modulated continuous-wave signals are as follows:
In formula, f0For the original frequency of frequency-modulated continuous-wave signals, the frequency of frequency-modulated continuous-wave signals is f (t)=f0+kt；k
For frequency-modulated continuous-wave signals frequency variation slope,T is the duration of frequency-modulated continuous-wave signals；For frequency modulation company
Continuous wave signal initial phase, the phase of frequency-modulated continuous-wave signals are
Further, label signal receives base station i CW with frequency modulation according to transmitted by label j letter in the step (6)
The method for number calculating the corresponding reaching time-difference information of itself each pair of antenna are as follows:
It is respectively i to two antennas in antenna that (3-1), which defines label signal and receive base station i m,m1And im2, i ∈ [1,
2 ..., N], m ∈ [1,2 ..., M]；Label j and im1And im2The distance between receiving end be respectively d1、d2；Calculate im1And im2
The frequency-modulated continuous-wave signals from label j received are respectively as follows:
In formula, t1、t2The frequency-modulated continuous-wave signals that respectively label j is issued reach im1、im2The time of receiving end, C is the light velocity；
(3-2) label signal receives base station i to s1(t) and s2(t) it is mixed, is obtained:
In formula, Δ t=t1-t2；
(3-3) carries out low-pass filtering to the mixing results that step (2-2) obtains, and obtains filtered signal:
(3-4) is with sample frequency fNS ' (t) is sampled, the discrete-time signal after note sampling is s (n)；
(3-5) carries out DFT processing to s (n), obtains:
In formula, NDFT is the points for carrying out DFT；
(3-6) calculates the frequency of s ' (t) are as follows:After finding out f ', by f ' substitutionThe frequency-modulated continuous-wave signals for obtaining label j sending reach im1、im2Arrival time
Poor information.
Further, the construction method of the problems in described step (7) model are as follows:
Construct cost function:
In formula, (a, b) indicates the position coordinates of label j to be asked；The m couples of base station i is received for label signal
An antenna i in antennam1Position coordinates；Base station i m is received to another in antenna for label signal
Antenna im2Position coordinates；ΔdimReach antenna i for the label j frequency-modulated continuous-wave signals issuedm1And im2Range difference；
Cost function is converted into problem model:
In formula, (a ', b ') is the position coordinates for the label j that Solve problems model obtains.
Further, the method for Solve problems model is that classical Levenberg-Marquardt is calculated in the step (7)
Method.
It further, is signal s before executing mixing operation described in step (3-2)2(t) increasing by a segment length is L meters
Transmission range, i.e., by s2(t) it converts are as follows:
At this point, signal s1(t)、s2(t) delay inequality between isΔ d=is calculated according to Δ t
L-(d1-d2)。
The utility model has the advantages that compared with prior art, present invention has the advantage that
1, by using CW with frequency modulation, TDOA information has been carried in the frequency information of signal, has been easy to extract, has been simplified
System complexity.
2, according to the method for proposition, TDOA information is carried in the frequency information of signal, has significant noise robustness,
And then improve positioning accuracy.
3, system does not require label accurate synchronous with base station, and which greatly simplifies the complexities of device.
4, reduce complexity in base station end, and under normal circumstances, can by position error control 5 centimetres with
It is interior.
Detailed description of the invention
Fig. 1 is that tab end realizes block diagram；
Fig. 2 is that label signal receives base station end realization block diagram；
Fig. 3 is the TDOA information schematic diagram that label signal receives that base station end obtains；
Fig. 4 is positioning system performance simulation figure；
Fig. 5 is system position error histogram.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
Fig. 1 to 2 show tab end and label signal receives base station end and realizes block diagram；
This programme is made of three modules: tab end is entity to be positioned, is sent out CW with frequency modulation；System is equipped with
Several base stations, each base station are equipped with double antenna, according to the CW with frequency modulation received on two antennas, when base station obtains arrival
Between poor (TDOA) information, and TDOA information is sent to server by each base station；It sends the comprehensive whole base stations of server
TDOA information obtains the location information of label to be positioned by solving Nonlinear least squares optimization.
1. tab end design scheme
Label is distributed in system any position, is entity to be positioned.The frequency of CW with frequency modulation (Chirp signal) is f
(t)=f0+ kt, whereinK is the slope of chirp signal frequency variation, and T is chirp signal duration.Phase is
The integral of frequency, the then phase of Chirp signalThen chirp signal expression is
In real system, need to use single-chip microcontroller to generate the triangular wave that symmetry is 100%, and it is (voltage-controlled to be input to VCO
Oscillator) in generate chirp signal.
2. base station end design scheme and location algorithm
Several base stations are dispersed in system, including N number of label signal receives base station and a trigger signal generates base station.Often
A label signal receives base station and is equipped with M to twin aerial, and two antennas are separated by L meters in each pair of antenna.Label signal receives base station
The chirp signal received successively passes through frequency mixer, low-pass filtering, digital sample, FFT module, and will finally extract
TDOA information is sent to server end.
Specifically, defining label signal and receiving base station i m is respectively i to two antennas in antennam1And im2, i ∈
[1,2 ..., N], m ∈ [1,2 ..., M]；Label j and im1And im2The distance between receiving end be respectively d1、d2；Calculate im1With
im2The frequency-modulated continuous-wave signals from label j received are respectively as follows:
In formula, t1、t2The frequency-modulated continuous-wave signals that respectively label j is issued reach im1、im2The time of receiving end, C is the light velocity.
Base station is to two-way chirp signal s1(t) and s2(t) it is mixed, as a result are as follows:
Wherein Δ t=t1-t2。
By the signal after mixing by a low-pass filter, signal is left
Next it carries out frequency analysis to s ' (t) in base station end specifically first to sample s ' (t), meter sampling
Frequency is fN.Discrete-time signal after note sampling is s (n), carries out DFT (discrete Fourier transform) to s (n):
Wherein NDFT is the points for carrying out DFT.
Then the frequency of continuous time signal s ' (t) is f ' are as follows:
It finds out f ' later, substitutes intoFormula just can obtain label to two days
The TDOA information of line.
It should be strongly noted that Δ d is that perseverance is positive to the Δ t of above-mentioned algorithm acquisition in other words, that is, any root day cannot be distinguished
Chirp signal on line first reaches.So the present invention also gives a kind of improved method, i.e., to certain root antenna in double antenna
(in the present embodiment be known as reference antenna) increases the delay of a period of time, and specific implementation is to be passed through mixing in the signal of reference antenna
Before device, first passing through the conducting wire of L meters of a Duan Changwei, (two antennas of base station end are separated by L meters, according to the difference on triangle both sides less than
The maximum distance of the principle on three sides, the L meters of as systems is poor).After this improvement, Δ d=L- (d1-d2) it is to have just
Negative point, this subsequent location algorithm provides more information.
3. server end design scheme and location algorithm
It is the equal of solving an optimization problem by TDOA information acquisition label position coordinate in server end.If system
N number of base station is shared,Base station i m is received to an antenna i in antenna for label signalm1Position coordinates；Base station i m is received to another antenna i in antenna for label signalm2Position coordinates；ΔdimFor label j
The frequency-modulated continuous-wave signals of sending reach antenna im1And im2Range difference；Then to the label, cost function is remembered are as follows:
So final positioning result, the i.e. two-dimensional coordinate of the label:
This nonlinear least square problem is solved, classical Levenberg-Marquardt algorithm can be used.
The algorithm seeks maximum (small) value using gradient, belongs to one kind of " climbing the mountain " method.It has the advantages that gradient method and Newton method simultaneously.
When damping factor λ very little, step-length is equal to Newton method step-length, and when λ is very big, step-length is approximately equal to the step-length of gradient descent method.
4. the support multi-tag scheme of system
Positioning system of the invention can support multi-tag.Scheme is that a refresh cycle is divided into multiple time slots, often
A label fixedly occupies some time slot.There is a special base station in system, specially when each refresh cycle arrives to institute
Some labels and base station send trigger signal.Label after receiving trigger signal, locally start timing, so as to oneself when
Chirp signal is sent when gap arrives；Base station is locally starting timing, when to determine some equally after receiving trigger signal
Label corresponding to gap.To which system realizes the support to multi-tag.
For example, if whole system require 0.1s refresh rate, then by 0.1s be divided into multiple a length of 250us when
Gap, each label fixedly occupy some time slot.Whole system can support most 400 labels.In the time slot of a 250us
In, the protection interval of each 25us in both ends, intermediate 200us is the length of chirp signal.At the same time, individually have one in system
A base station, referred to as trigger signal generate base station, and trigger signal generates base station and sends a trigger signal every 0.1s, indicates new
One time location updating starts.All labels and base station can all receive this trigger signal, and each comfortable local timing.From
And system realizes the support to multi-tag.Assuming that whole system is in the region of 30m*30m, it is assumed that trigger signal has propagated
30m is received, and will also generate the delay of 10ns, this is almost negligible compared to 25us.
Technical solution of the present invention content is further illustrated below by a specific embodiment.
If system coverage area is 15 meters * 15 meters, system is equipped with 6 base stations, and each base station is equipped with double antenna, two antennas
2 meters are spaced, the reference antenna in two antennas has 2 meters of additional delay.System position refresh rate is 0.1 second primary, system
Support 400 labels, the time slot that each label occupies is 250us altogether, and as protection interval, i.e., each 25us is respectively taken out in front and back
The chirp signal that label is sent every time continues 200us.Chirp signal upper side frequency is 1.06GHz, down-converts to 895MHz, i.e.,
Chirp signal slopeIf wireless channel is awgn channel, signal-to-noise ratio 1dB.And base station end sampling frequency
Rate is 2MHz, and FFT points are 2048 points.Simulation result is as shown in Fig. 3,4,5.
From simulation result as can be seen that most of tag location error is within 6 centimetres, average localization error is
4.64 centimetre.Compared to traditional indoor positioning technologies, this is a huge raising in positioning accuracy.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (4)
1. a kind of UWB indoor localization method based on CW with frequency modulation, characterized by comprising:
(1) Indoor Positioning System Using Ultra Wideband Radio based on CW with frequency modulation is constructed, which includes: that server, N number of label signal connect
Receive base station, a trigger signal generates base station and at least one label；Each label signal receives base station and is equipped with M to antenna, often
To the receiving end of antenna at a distance of L meters；
(2) each refresh cycle is evenly dividing as T time slot, each label occupies a time slot respectively, shared by any two label
Time slot is different；
(3) trigger signal generates base station and receives base station transmission to all labels and label signal when each refresh cycle arrives
Trigger signal；
(4) label is as entity to be positioned, after receiving the trigger signal, is locally starting timing, and in the time slot of oneself
Base station when from arrival to communication range sends frequency-modulated continuous-wave signals:
In formula, f0For the original frequency of frequency-modulated continuous-wave signals, the frequency of frequency-modulated continuous-wave signals is f (t)=f0+kt；K is to adjust
The slope of frequency continuous wave signal frequency variation；Phase for frequency-modulated continuous-wave signals initial phase, frequency-modulated continuous-wave signals is
(5) label signal receives base station after receiving the trigger signal, is locally starting timing, oneself is being received in each time slot with determination
Label corresponding to the frequency-modulated continuous-wave signals arrived；
(6) base station i is received for any one label j and label signal, label signal receives base station i and receiving label j hair
After the frequency-modulated continuous-wave signals sent, the frequency-modulated continuous-wave signals that each pair of antenna receives successively are mixed, low-pass filtering, number
Word sampling and FFT transform processing, calculate the reaching time-difference information of the frequency-modulated continuous-wave signals from label j on each pair of antenna；
And calculated total M reaching time-difference information is uploaded to server；
(7) server receives the reaching time-difference information and N number of label signal reception base that base station is sent according to each label signal
The position for each antenna stood, building are obtained using calculating the problem of label position is target problem model by Solve problems model
Label position；
The specific steps of Construct question model are as follows:
Construct cost function:
In formula, (a, b) indicates the position coordinates of label j to be asked；Base station i m is received to antenna for label signal
In an antenna im1Position coordinates；Base station i m is received to another antenna in antenna for label signal
im2Position coordinates；ΔdimReach antenna i for the label j frequency-modulated continuous-wave signals issuedm1And im2Range difference；
Cost function is converted into problem model:
In formula, (a ', b ') is the position coordinates for the label j that Solve problems model obtains.
2. a kind of UWB indoor localization method based on CW with frequency modulation according to claim 1, which is characterized in that institute
It states label signal reception base station i frequency-modulated continuous-wave signals according to transmitted by label j in step (6) and calculates itself each pair of antenna pair
The method for the reaching time-difference information answered are as follows:
It is respectively i to two antennas in antenna that (3-1), which defines label signal and receive base station i m,m1And im2, i ∈ [1,2 ...,
N], m ∈ [1,2 ..., M]；Label j and im1And im2The distance between receiving end be respectively d1、d2；Calculate im1And im2It receives
The frequency-modulated continuous-wave signals from label j be respectively as follows:
In formula, t1、t2The frequency-modulated continuous-wave signals that respectively label j is issued reach im1、im2The time of receiving end, C is the light velocity；
(3-2) label signal receives base station i to s1(t) and s2(t) it is mixed, is obtained:
In formula, Δ t=t1-t2；
(3-3) carries out low-pass filtering to the mixing results that step (3-2) obtains, and obtains filtered signal:
(3-4) is with sample frequency fNS ' (t) is sampled, the discrete-time signal after note sampling is s (n)；
(3-5) carries out DFT processing to s (n), obtains:
In formula, NDFT is the points for carrying out DFT；
(3-6) calculates the frequency of s ' (t) are as follows:After finding out f ', by f ' substitutionThe frequency-modulated continuous-wave signals for obtaining label j sending reach im1、im2Arrival time
Poor information.
3. a kind of UWB indoor localization method based on CW with frequency modulation according to claim 2, which is characterized in that institute
The method for stating Solve problems model in step (7) is classical Levenberg-Marquardt algorithm.
4. a kind of UWB indoor localization method based on CW with frequency modulation according to claim 3, which is characterized in that
It is signal s before executing mixing operation described in step (3-2)2(t) increase the transmission range that a segment length is L meters, i.e., by s2(t)
Conversion are as follows:
At this point, signal s1(t)、s2(t) delay inequality between isΔ d=L- (d is calculated according to Δ t1-
d2)。
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| CN107343265B (en) * | 2017-08-16 | 2023-07-18 | 华南理工大学 | Visible light positioning system and method based on maximum likelihood estimation |
| CN108966343B (en) * | 2018-07-22 | 2024-02-20 | 西南石油大学 | Self-calibration positioning method based on ultra-wideband position unknown anchor node |
| CN112788743B (en) * | 2019-11-11 | 2024-06-18 | 北京京邦达贸易有限公司 | Positioning method and device based on ultra-wideband technology |
| CN110913466A (en) * | 2019-11-28 | 2020-03-24 | 郑州芯力波通信息技术有限公司 | Ultra-wideband UWB positioning system and method based on multi-communication fusion |
| CN113238217B (en) * | 2021-06-03 | 2024-03-08 | 哈尔滨工业大学 | Distributed high-frequency ground wave radar joint positioning method based on interior point method |
| CN113473376B (en) * | 2021-07-16 | 2024-02-13 | 成都四相致新科技有限公司 | Method and device for improving object positioning refresh rate |
| CN114222362B (en) * | 2021-12-15 | 2024-03-15 | 武汉乾阳智能科技有限公司 | Positioning method and positioning device |
| CN115665704B (en) * | 2022-11-21 | 2023-03-14 | 广州天辰信息科技有限公司 | Activity privacy safety recommendation method based on big data |
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