CN106872966B - Inter-base station distance acquisition apparatus - Google Patents
Inter-base station distance acquisition apparatus Download PDFInfo
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- CN106872966B CN106872966B CN201710200337.0A CN201710200337A CN106872966B CN 106872966 B CN106872966 B CN 106872966B CN 201710200337 A CN201710200337 A CN 201710200337A CN 106872966 B CN106872966 B CN 106872966B
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- 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
- G01S11/08—Systems for determining distance or velocity not using reflection or reradiation using radio waves using synchronised clocks
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Abstract
The invention discloses a method, a device and equipment for measuring the distance between base stations and a positioning system based on the distance measuring method. The method comprises the steps that a first timing module is triggered to start timing by a synchronous signal, and a ranging signal transmitting module is triggered to transmit a ranging signal; triggering a second timing module to start timing by using the synchronous signal; triggering the first timing module and the second timing module to stop timing by using the ranging signal; and acquiring the distance between the first base station and the second base station by utilizing the time interval from the time triggered by the synchronous signal to the time triggered by the ranging signal to stop timing by the first timing module and the time interval from the time triggered by the synchronous signal to the time triggered by the ranging signal to stop timing by the second timing module. The invention also discloses a method for establishing a coordinate system by utilizing the distance between the base stations in the positioning system. According to the technical scheme disclosed by the invention, the cost of manpower and material resources for measurement can be saved, and the positioning precision is improved.
Description
Technical Field
The present disclosure relates to wireless communications, and more particularly, to the field of ranging and positioning.
Background
The short-distance and high-precision wireless indoor positioning technology is widely applied to urban dense areas and indoor closed spaces. Indoor positioning systems generally require base stations to be deployed in an area to be positioned to locate a target position in the area to be positioned. The common positioning algorithms in the existing indoor positioning technology include time of arrival (TOA) positioning, time difference of arrival (TDOA) positioning and the like, and in the process of resolving the target position, the algorithms all need to utilize the coordinate position of a base station based on a certain specific coordinate system, so that the position of the target relative to the specific coordinate system is resolved. This requires the positioning system to establish a coordinate system in advance and measure the coordinates of each base station in the coordinate system before performing positioning.
The existing methods for establishing a coordinate system and measuring the position of a base station mostly adopt a mode of manual measurement by means of measuring instruments such as a total station instrument, a laser range finder and the like. The manual measurement mode consumes huge manpower cost and is limited by the arrangement environment of the base station, and in addition, the accuracy of measuring the position of the base station by the method is poor due to the influences of measurement errors, human errors and the like of instruments. The accuracy of the base station location can seriously affect the accuracy of locating the target. Therefore, the method of manually measuring the position of the base station cannot satisfy a high-precision and high-accuracy indoor positioning system. Therefore, the research on the method for establishing the coordinate system and measuring the position of the base station with low labor cost and high accuracy is a problem that needs to be solved by researchers in the field.
Disclosure of Invention
The invention discloses distance acquisition equipment which comprises a distance measuring device, a synchronous controller and an information processor. The ranging device comprises a first base station and a second base station. The first base station comprises a ranging signal transmitting module, a multi-port module, a first antenna and a first timing module, wherein the ranging signal transmitting module receives a synchronous signal and generates a ranging signal under the triggering of the synchronous signal; the multi-port module receives the ranging signals and divides the ranging signals into two paths; the first antenna receives and transmits a path of ranging signal; the first timing module receives the synchronous signal and the other path of ranging signal, starts timing under the triggering of the synchronous signal, and stops timing under the triggering of the other path of ranging signal. The second base station comprises a second antenna and a second timing module, wherein the second antenna receives the other path of ranging signal; the second timing module receives the synchronous signal and receives the other path of ranging signal from the second antenna, starts timing under the trigger of the synchronous signal and stops timing under the trigger of the other path of ranging signal. Further, a synchronization controller is coupled to the first and second base stations through a synchronization line to provide synchronization signals to the first and second base stations. The information processor acquires time information of starting timing by the first timing module and the second timing module, time information of stopping timing by the first timing module and the second timing module and time information of triggering the ranging signal transmitting module by the synchronizing signal, and acquires the distance between the position of the first base station and the position of the second base station according to the time information of starting timing by the first timing module and the second timing module, the time information of stopping timing by the first timing module and the second timing module and the time information of triggering the ranging signal transmitting module by the synchronizing signal.
The method has the advantages that the ranging signal is used for triggering the timing module to stop timing, the response time of the ranging signal transmitting module for transmitting the ranging signal is obtained, the response time is used for calculating the distance between the positions of the two base stations, and a high-precision and high-accuracy ranging result can be obtained.
Drawings
FIG. 1 is a schematic diagram of a distance acquisition device 100 according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a distance measuring device 200 according to an embodiment of the invention;
FIG. 3 shows a schematic diagram of an internal structure 300 of the base station BS1 in the embodiment shown in FIG. 2;
FIG. 4 shows a schematic diagram of another internal structure 400 of the base station BS1 in the embodiment shown in FIG. 2;
FIG. 5 is a flow chart of a method 500 for inter-base station ranging in accordance with an embodiment of the present invention;
FIG. 6 is a timing diagram illustrating the operation of the ranging method 500 of FIG. 5;
FIG. 7 is a schematic diagram of a positioning system 700 according to an embodiment of the invention;
FIG. 8 is a diagram illustrating a coordinate system establishing method 800 according to an embodiment of the invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order to avoid obscuring the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Like reference numerals refer to like elements. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 shows a schematic diagram of a distance acquisition device 100 according to an embodiment of the invention. As shown in fig. 1, the distance acquisition apparatus 100 illustratively includes a ranging device including a base station BS1 and a base station BS2, a synchronization controller SC, and an information processor CP. In one embodiment, the base station BS1 and base station BS2 are geographically fixed. The synchronization controller SC transmits synchronization signals SYN to the base stations BS1 and BS2, respectively. In one embodiment the synchronization controller SC connects base station BS1 and base station BS2 via wired lines LIN1 and LIN2 to transmit synchronization signals SYN to base station BS1 and base station BS 2. The synchronization signal SYN may be two signals into which the same signal is divided, or may be different signals having a known time relationship. The type of the wire line may be determined according to the type of the synchronization signal SYN, for example, if the synchronization signal SYN is an optical signal, the wire line is an optical fiber; if the synchronous signal SYN is a digital signal, the wired line is a network cable; the synchronous signal SYN is an ultra-wideband signal, and the wired line is a coaxial line or a twisted pair line.
The distance acquisition device 100 may determine the transmission time of the synchronization signal SYN in the wire line according to the length of the wire line, and further obtain the time when the synchronization signal SYN reaches the base stations BS1 and BS 2. In another embodiment, the transmission time of the synchronization signal SYN in the wired line may not be determined by the length of the wired line, but the synchronization controller SC transmits the synchronization signal SYN to the base station, and the base station transmits the return signal to the synchronization controller SC at the same time or at an interval of a delay time preset by the system, and the synchronization controller SC determines the transmission time of the synchronization signal SYN in the wired line by recording the time of transmitting the synchronization signal SYN and the time of receiving the return signal, and the delay time preset by the system, so as to obtain the time when the synchronization signal SYN reaches the base stations BS1 and BS 2.
The base station BS1 receives the synchronization signal SYN and transmits a ranging signal, which may be an ultra wideband signal, to the base station BS 2. The information processor CP determines the distance between the base station BS1 and the base station BS2 using the time instant at which the base station BS1 transmits the ranging signal, the time instant at which the base station BS2 receives the ranging signal, and the propagation speed of the ranging signal in space. It will be understood by those skilled in the art that the distance between two base stations is understood to be the distance between the locations of two base stations, and that the information processor CP is a functional module which may be integrated into the base stations BS1, BS2 or the synchronization controller SC, or may be set up separately.
Fig. 2 shows a schematic diagram of a ranging apparatus 200 according to an embodiment of the present invention, where the ranging apparatus 200 illustratively includes a base station BS1 and a base station BS 2. In one embodiment, the base station BS1 and base station BS2 are geographically fixed. The base station BS1 includes a ranging signal transmitting module 201, a first timing module 202, a multi-port module 203, and a first antenna 204; the base station BS2 comprises a second timing module 205 and a second antenna 206. In one embodiment base station BS1 and base station BS2 receive synchronization signals SYN over wireline.
The ranging signal transmitting module 201 of the base station BS1 receives the synchronization signal SYN through the internal connection line L1, and generates a ranging signal Si under the trigger of the synchronization signal SYN; the first timing module 202 of the base station BS1 receives the synchronization signal SYN through the internal connection line L2 and starts timing upon triggering of the synchronization signal SYN. The ranging signal Si generated by the ranging signal transmitting module 201 is transmitted to the multiport module 203 through the internal connection line L3. The multi-port module 203 includes 1 port, 2 ports and 3 ports, the 1 port is connected with the ranging signal transmitting module 201 through an internal connection line L3, the 2 port is connected with the first antenna 204 through an internal connection line L4, and the 3 port is connected with the first timing module 202 through an internal connection line L5. The multi-port module 203 divides the ranging signal Si received from the port 1 into two paths, one path is transmitted to the first antenna 204 from the port 2 via the internal connection line L4, and is transmitted to the base station BS 2; one path is transmitted from the 3 port to the first timing module 202 through the internal connection line L5, and triggers the first timing module 202 to stop timing.
The second timing module 205 of the base station BS2 receives the synchronization signal SYN through the internal connection line L6 and starts timing upon triggering of the synchronization signal SYN. The second antenna 206 of the BS2 receives the ranging signal Si transmitted by the BS1, and transmits the ranging signal Si to the second timing module 205 through the interconnection line L7, and triggers the second timing module 205 to stop timing.
In the embodiment shown in fig. 2, the propagation time of the signal on the internal connection lines L1-L7 is known, and various implementations are possible, for example, the parameters of the internal connection lines L1-L7 are known, and the parameters include the length of the internal connection line and the signal propagation speed, and the propagation time of the signal on the internal connection line can be obtained by using the above parameters.
To realize high-precision ranging, the transmission time of the ranging signal Si needs to be known accurately. In one embodiment, the ranging signal Si is an ultra-wideband signal and correspondingly the ranging signal transmitting module 201 in the base station BS1 is an ultra-wideband signal transmitting module. The ultra-wideband signal transmitting module 201 needs a response time Δ T from the time when the synchronization signal SYN triggers to the time when the ranging signal Si is actually transmitted, and the ultra-wideband ranging signal transmitting module 201 uses an analog device such as an avalanche diode to generate an ultra-wideband ranging signal, and the response time Δ T of each time when the ranging signal Si is transmitted may be different, so that the ranging apparatus cannot know the accurate time when the ultra-wideband ranging signal transmitting module 201 transmits the ranging signal Si, and cannot accurately obtain the response time Δ T of the ranging signal Si when the ranging is actually realized through the response time measured in advance. The ranging apparatus 200 in this embodiment triggers the ranging signal transmitting module 201 to transmit the ranging signal Si through the synchronization signal SYN, triggers the first timing module 202 to start timing, and triggers the first timing module 202 to stop timing by using a path of the ranging signal Si. The ranging apparatus 200 can calculate the response time Δ T of the ranging signal transmitting module 201 for transmitting the ranging signal Si by using the timing time of the first timing module and the transmission time of the internal connection line, so as to accurately know the transmitting time of the ranging signal Si transmitted by the base station BS1, and further calculate the distance between the base station BS1 and the base station BS 2.
Fig. 3 shows a schematic diagram of an internal structure 300 of the base station BS1 in the embodiment shown in fig. 2. The embodiment of fig. 3 shows an implementation of the multi-port module 203 in the base station BS1 in the embodiment of fig. 2. As shown in fig. 3, the multi-port module 203 is implemented by a circulator 303. The circulator 303 includes a 1 port, a 2 port and a 3 port, the 1 port is connected to the ranging signal transmitting module 301, the 2 port is connected to the first antenna 304, and the 3 port is connected to the first timing module 302. The ranging signal Si generated by the ranging signal transmitting module 301 is mostly transmitted to the space through the first antenna 304, and a small portion leaks to the first timing module 302 through the 3-port. Generally, the isolation of the circulator 303 is 20-30 dB, and the first timing module 302 can still be triggered to stop timing after 20-30 dB of attenuation due to the large transmission power of the ranging signal Si, so that the function of multiple ports is realized.
Fig. 4 shows a schematic diagram of another internal structure 400 of the base station BS1 in the embodiment shown in fig. 2. The embodiment of fig. 4 shows an implementation of the multi-port module 203 in the base station BS1 in the embodiment of fig. 2. As shown in fig. 4, the multi-port module 203 is implemented by a radio frequency switch 403. The radio frequency switch 403 includes a 1 port, a 2 port and a 3 port, the 1 port is connected to the ranging signal transmitting module 401, the 2 port is connected to the first antenna 404, and the 3 port is connected to the first timing module 402. When the rf switch 403 closes the port 1 and the port 2, a majority of the ranging signal Si generated by the ranging signal transmitting module 401 is transmitted to the space through the first antenna 404, and a small portion of the ranging signal Si leaks to the first timing module 402 through the port 3. Usually, the isolation of the rf switch 403 is 40dB, and since the transmission power of the ranging signal Si is relatively high, the first timing module 402 can still be triggered to stop timing after 40dB of attenuation, thereby implementing the multi-port function.
In one embodiment, the base station BS1 capable of transmitting ranging signals may also be used to receive ranging signals transmitted by other base stations. At this time, when the rf switch 402 in the embodiment shown in fig. 4 is used as the multi-port module 202, the 2-port and the 3-port of the rf switch 402 are communicated with each other.
Furthermore, those skilled in the art will appreciate that the ranging structure 200 shown in fig. 2 may be used in a positioning system, and that base station BS1 and base station BS2 may be used for positioning. In the above embodiments, only a part of the structure of the base station for ranging is disclosed, and the related structure when the positioning function is implemented is not disclosed, but the structure required for implementing the positioning function is not the focus of the present invention, and there are many implementation manners known in the art, and therefore, the detailed description of the present invention is not provided.
Fig. 5 is a flow chart of a method 500 for inter-base station ranging according to an embodiment of the invention. Fig. 6 is a timing diagram illustrating an operation of the ranging method 500 shown in fig. 5. The following steps in the inter-base-station ranging method 500 shown in fig. 5 are described in detail with reference to the ranging apparatus 200 shown in fig. 2:
step 501: triggering a ranging signal transmitting module 201 of a base station BS1 to transmit a ranging signal Si by using a synchronization signal SYN, wherein the triggering time is tr; the first timing module 202 of the base station BS1 is triggered to start timing by the synchronization signal SYN, and the triggering time is tc 1. And the ranging signal transmission module 201 has a response time Δ T from being triggered by the synchronization signal SYN to transmitting the ranging signal Si.
Step 502: the synchronization signal SYN is used to trigger the second timing module 205 of the base station BS2 to start timing, and the triggering time is tc 2.
The synchronization signals used to trigger the BS1 and BS2 in steps 501 and 502 may be the same signal or different signals, and only need to have a known timing relationship when they arrive at the BS1 and BS 2. The synchronization signal may be generated by the synchronization controller and transmitted via a wire line, and the wire line transmission time of the synchronization signal may be obtained by using parameters of the wire line, such as length, type, and the like, so as to determine the timing relationship between the arrival of the synchronization signal at the BS1 and the BS 2.
It should be further understood by those skilled in the art that after the synchronization signal reaches the base station BS1 and the base station BS2, the synchronization signal also needs to pass through the internal connection lines L1 and L2 of the base station BS1 and the internal connection line L5 of the base station BS2, respectively, to reach and trigger the ranging signal transmitting module 201 of the base station BS1, the first timing module 202 of the base station BS1 and the second timing module 205 of the base station BS 2. The parameters of the internal connection are known, and the internal connection transmission time of the synchronization signal can be measured in advance. By using the timing of the arrival of the synchronization signal at the base station BS1 and the base station BS2 and the internal connection line transmission time of the synchronization signal, the triggering times tr, tc1 and tc2 of the synchronization signal triggering the ranging signal transmitting module 201 of the base station BS1, the first timing module 202 of the base station BS1 and the second timing module 205 of the base station BS2 can be obtained.
Step 503: the ranging signal Si is used to trigger the first timing module 202 of the BS1 and the second timing module 205 of the BS2 to stop timing respectively. The first timing module 202 of the base station BS1 starts timing by being triggered by the synchronization signal SYN, and a time interval from the start of timing by being triggered by the ranging signal Si to the stop of timing is T1, and the second timing module 205 of the base station BS2 starts timing by being triggered by the synchronization signal SYN, and a time interval from the stop of timing by being triggered by the ranging signal Si is T2.
Wherein, the ranging signal Si generated by the ranging signal transmitting module 201 of the base station BS1 is transmitted to the multi-port module 203 through the internal connection line L3, and is divided into two paths by the multi-port module 203, and one path is transmitted to the first timing module 202 through the internal connection line L5 of the base station BS1, so as to trigger the timing of the first timing module 202 to stop timing; one path is transmitted to the first antenna 204 via the internal connection line L4 of the base station BS1, radiated to the space by the first antenna 204, received by the second antenna 206 of the base station BS2, and transmitted to the second timing module 205 of the base station BS2 via the internal connection line of the base station BS2, so as to trigger the second timing module 205 to stop timing. The line transit time of the ranging signal Si transmitted to the first timing module 202 via the internal connection lines L3 and L5 of the base station BS1 is denoted as Trc, and the line transit time of the ranging signal Si transmitted to the first antenna 204 via the internal connection lines L3 and L4 of the base station BS1 is denoted as Tra; the spatial propagation time of the ranging signal Si propagating via the first antenna 204 of the base station BS1 to the second antenna 206 of the base station BS2 is denoted as Td; the line transit time Tac of the ranging signal Si transmitted via the second antenna 206 of the BS2 to the second timing module 205 via the internal connection L7 of the BS2 is recorded. The line transit times Trc, Tra and Tac can be determined beforehand, i.e. known, from the parameters of the internal connection.
Step 504: the distance d12 between the position of the base station BS1 and the position of the base station BS2 is obtained by using the time interval T1 from the time of starting timing triggered by the synchronization signal SYN to the time of stopping timing triggered by the ranging signal Si by the first timing module 202 of the base station BS1 and the time interval T2 from the time of starting timing triggered by the synchronization signal SYN to the time of stopping timing triggered by the ranging signal Si by the second timing module 205 of the base station BS 2. In one embodiment, the distance d12 may be understood as the distance between the first antenna 204 of the base station BS1 and the second antenna 206 of the base station BS 2.
The ranging method 500 may further include triggering the ranging signal transmitting module 201 of the base station BS1, the triggering times tr, tc1 and tc2 of the first timing module 202 of the base station BS1 and the second timing module 205 of the base station BS2 by using the synchronization signal, and calculating the distance d12 between the location of the base station BS1 and the location of the base station BS2 by using the line transmission times Trc, Tra and Tac. The distance d12 may be represented by formula (1).
d12＝[T2-(tr-tc2)-ΔT-Tra-Tac]·c (1)
Where c is the propagation speed of the ranging signal Si in the space, Δ T is the response time of the ranging signal transmitting module 201 for transmitting the ranging signal Si, and Δ T may be represented by equation (2).
Δ T-T1-Trc- (tr-tc1) (2) the distance d12 between the location of the base station BS1 and the location of the base station BS2 can be expressed as formula (3).
d12＝[T2-T1+Trc-Tra-Tac-(tc1-tc2)]·c (3)
It will be appreciated by those skilled in the art that in this embodiment, the line transit time of a signal transmitted on the base station interconnecting line is fully considered for accurate calculation of the distance between base stations, and in other embodiments, some or all of the base station interconnecting line transit time may be ignored when the interconnecting line transit time is much less than the spatial propagation time of a signal between base stations, in order to simplify system complexity.
FIG. 7 is a diagram of a positioning system 700 according to an embodiment of the invention. As shown in fig. 7, the positioning system 700 illustratively includes a base station BS1, a base station BS2, a base station BS3, and a device to be positioned MS. In one embodiment, the base station BS1, the base station BS2 and the base station BS3 may be geographically fixed, and the device to be positioned MS may be movable. The positioning system 700 may further comprise a synchronization controller SC to achieve synchronization of the base stations BS1, BS2, BS 3. In one embodiment, synchronization controller SC connects base station BS1, base station BS2, and base station BS3 through wired lines LIN1, LIN2, and LIN3, respectively, to transmit synchronization signals SYN to base station BS1, base station BS2, and base station BS 3.
The positioning system 700 includes two modes in operation, namely a ranging mode and a positioning mode. When the positioning system 700 operates in the ranging mode, ranging signals Si are transmitted and received between base stations to obtain distance information between any two base stations. The ranging signal Si is a general term for the functionality of the ranging signal, and may represent different ranging signals transmitted and received between different base stations. The ranging between every two base stations can be implemented by using any of the embodiments shown in fig. 1 to 6. It will be understood by those skilled in the art that the positioning system 700 of fig. 7 may include and reference the contents of the embodiments of fig. 1-6 without departing from the spirit of the present invention. In the embodiment shown in fig. 7, the positioning system 700 comprises three base stations, and in order to implement the ranging function between every two base stations, each base station in the positioning system 700 comprises an antenna and a timing module, and the positioning system 700 comprises at least two base stations each having a ranging signal transmitting module and a multiport module.
When the positioning system 700 is in the positioning mode, the device MS to be positioned propagates positioning signals Sp with the base station BS1, the base station BS2 and the base station BS3, and the ranging signals Sp are a general term for the functionality of positioning signals, which may include one positioning signal or a plurality of identical or different positioning signals. In one embodiment, the positioning signal Sp is transmitted to each base station by the device to be positioned MS, and the positioning system 700 calculates the position information of the device to be positioned MS from the time information of the arrival of the positioning signal Sp at each positioning base station. The positioning algorithm may adopt a TDOA (Time of Arrival) algorithm, which is a known technique in the art and is not described herein.
The ranging mode and the positioning mode of the positioning system 700 may be performed simultaneously or in a time-sharing manner. In one embodiment, the ranging mode and the positioning mode of the positioning system 700 are performed in a time-sharing manner, i.e., the positioning system 700 allocates different predetermined time periods for the ranging mode and the positioning mode, respectively. In one embodiment, the positioning system 700 operates in the ranging mode first and then in the positioning mode, and uses the measured distances between the base stations to resolve the location information of the MS to be positioned. At this time, the ranging signal Si and the positioning signal Sp are supplied to the respective base stations in different time periods, and thus the respective base stations can distinguish whether the received signal is the ranging signal Si or the positioning signal Sp by whether the time period belongs to the ranging mode or the positioning mode. In this time-division operating state, the ranging signal Si and the positioning signal Sp may be in the same signal form without adding distinguishing information to the signal itself. In one embodiment, the ranging signal Si and the positioning signal Sp are ultra-wideband signals of the same frequency band. In the positioning system 700 working in a time-sharing manner, no matter a device MS to be positioned transmits a positioning signal Sp, a base station receives the positioning signal Sp; the base station still transmits the positioning signal Sp, and the device MS to be positioned receives the positioning signal Sp, which will not affect the distinction of the positioning signal Sp and the ranging signal Si by the positioning system 700.
In one embodiment, the ranging mode and the positioning mode of the positioning system 700 are performed simultaneously, and at this time, distinguishable information may be added to the positioning signal Sp and the ranging signal Si signal itself. In one embodiment, the positioning system 700 allocates different frequency bands for the positioning signal Sp and the ranging signal Si, for example, the positioning signal Sp is an ultra-wideband signal of 3G-6G, the ranging signal Si is an ultra-wideband signal of 7G-10G, and for example, the positioning signal Sp is an ultra-wideband signal of 7G-10G, and the ranging signal Si is an ultra-wideband signal of 3G-6G. At this time, the base station and the device MS to be positioned need to be configured with corresponding transmission paths and/or reception paths. In another embodiment, the positioning system 700 adds the identity information to the positioning signal Sp and the ranging signal Si by modulation, which may be pulse position modulation. At this time, it is necessary to configure corresponding modulation circuits and/or demodulation circuits for the base station and the device MS to be positioned.
In one embodiment, in order to improve the accuracy of ranging, the ranging may be performed by transmitting and receiving ranging signals between two base stations multiple times, so as to average the flight times of the ranging signals measured multiple times. For example, each base station in the positioning system 700 may have a function of transceiving ranging signals, and the base station BS1 transmits the ranging signals to the base stations BS2 and BS 3; then, the base station BS2 transmits ranging signals to the base station BS1 and the base station BS 3; then, the base station BS3 transmits the ranging signals to the base station BS1 and the base station BS 2. According to the mode, the ranging signals are transmitted twice between every two base stations, and the ranging precision is improved in an averaging mode.
FIG. 8 is a diagram illustrating a coordinate system establishing method 800 according to an embodiment of the invention. The coordinate system establishing method 800 of the embodiment shown in fig. 8 can be used in the positioning system 700 shown in fig. 7. The embodiment shown in fig. 8 exemplarily comprises a base station BS1, a base station BS2, a base station BS3 and the device to be positioned MS, the base station BS1, the base station BS2 and the base station BS3 being geographically fixed and the device to be positioned MS being movable. The base station and the device MS to be positioned form a positioning system, which may further include a synchronization controller to synchronize the base stations. After the positioning system passes through the ranging mode, the distance between every two base stations is measured, the distance between the base station BS1 and the base station BS2 is denoted by a, the distance between the base station BS1 and the base station BS3 is denoted by b, and the distance between the base station BS2 and the base station BS3 is denoted by c. At this time, the positions of the base station BS1, the base station BS2, and the base station BS3 relative to each other are known, and therefore, a coordinate system xoy can be established with a certain reference point related to the position of the base station as the origin of coordinate o, and the relative positions of the base station BS1, the base station BS2, and the base station BS3 in the coordinate system are known. The embodiment shown in fig. 8 exemplarily takes the base station BS1 as the coordinate origin o and the connection direction of the base station BS1 and the base station BS3 as the x-axis, and obtains the coordinate system xoy. At this time, the coordinates of the base station BS1 in the coordinate system xoy are (0,0), the coordinates of the base station BS3 in the coordinate system xoy are (b,0), and the coordinates of the base station BS2 in the coordinate system xoy are (0,0)
When the positioning system positions the device to be positioned MS, the coordinates of the base station BS1, the base station BS2, and the base station BS3 in the coordinate system xoy need to be used, so as to obtain the coordinates of the device to be positioned MS in the coordinate system xoy. When the positioning system is located in a specific environment, for example, the positioning system is located in an indoor environment, if it is desired to use a specific reference point in the indoor environment as the coordinate origin o ', establish the coordinate system x' o 'y', and determine the coordinates of the device MS to be positioned in the coordinate system x 'o' y ', it is necessary to map the coordinate system xoy to the coordinate system x' o 'y'.
This embodiment exemplarily presents a coordinate system mapping method, the positioning system in the embodiment shown in fig. 8 is in an indoor environment, the diagonal line part in fig. 8 is a cross section of an indoor wall, and the indoor wall is a straight wall perpendicular to each other. To facilitate mapping of the coordinate system xoy into the coordinate system x ' o ' y ', reference can be made to the indoor infrastructure during the deployment of the base stations. In the embodiment shown in fig. 8, the base station BS1 and the base station BS3 are arranged on the indoor wall such that the x-axis in the coordinate system xoy is parallel to the x '-axis in the coordinate system x' o 'y', and the y-axis in the coordinate system xoy is parallel to the y '-axis in the coordinate system x' o 'y'. If the influence of the shape of the base station is neglected, the two coordinate systems can be approximately equivalent to be superposed, and if the shape of the base station cannot be neglected, the shape and the size of the base station need to be measured in advance and applied to the mapping of the coordinate systems.
It will be understood by those skilled in the art that the coordinate system mapping process is not limited to the use of walls as a reference, but may be performed using any fixed physical standard in the environment as a reference, and that the choice of which calibration object is used as a reference is determined by which reference coordinate system the device MS to be located is to be mapped.
It will be understood by those skilled in the art that a planar two-dimensional coordinate system is established in the embodiment shown in fig. 8, and the three base stations are considered to be at the same horizontal height. In other embodiments, if a three-dimensional space coordinate system is to be established, another base station is introduced, and the distances between the base station and the base stations BS1, BS2 and BS3 are measured, so that the positions of the base stations relative to each other in the three-dimensional space coordinate system are uniquely determined.
The method for measuring the distance between the base stations by using the distance measuring signals transmitted and received between the base stations and establishing the coordinate system by using the distance between the base stations solves the problems that in the prior art, when the coordinate system is established by using measuring instruments such as a total station instrument, a laser range finder and the like to perform manual measurement, the labor cost is huge, the coordinate system is limited by the arrangement environment of the base stations, and the precision is poor due to the influence of the measuring errors, the manual errors and the like of the instruments.
As noted above, while the preferred embodiments of the invention have been illustrated and described, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiments. Rather, the invention should be determined entirely by reference to the claims that follow.
Claims (10)
1. A distance acquisition apparatus includes a distance measuring device, a synchronization controller, and an information processor,
the ranging device comprises a first base station and a second base station;
the first base station comprises a ranging signal transmitting module, a multi-port module, a first antenna and a first timing module; a second base station comprising a second antenna, a second timing module, wherein,
the ranging signal transmitting module receives the synchronous signal and generates a ranging signal under the triggering of the synchronous signal;
the multi-port module receives the ranging signals and divides the ranging signals into two paths;
the first antenna receives and transmits a path of ranging signal;
the first timing module is used for receiving the synchronous signal and the other path of ranging signal, starting timing under the triggering of the synchronous signal and stopping timing under the triggering of the other path of ranging signal;
the second antenna is used for receiving the path of ranging signal;
the second timing module receives the synchronous signal and the ranging signal from the second antenna, starts timing under the trigger of the synchronous signal and stops timing under the trigger of the ranging signal;
a synchronization controller coupled to the first base station and the second base station through a synchronization line to provide a synchronization signal to the first base station and the second base station;
the information processor is used for acquiring the time information of the first timing module and the second timing module for starting timing, the time information of the first timing module and the second timing module for stopping timing and the time information of the synchronous signal triggering ranging signal transmitting module, and acquiring the distance between the position of the first base station and the position of the second base station according to the time information of the first timing module and the second timing module for starting timing, the time information of the first timing module and the second timing module for stopping timing and the time information of the synchronous signal triggering ranging signal transmitting module.
2. The distance acquisition device of claim 1, wherein the multi-port module comprises a circulator or a radio frequency switch.
3. The distance acquisition apparatus according to claim 1, wherein the information processor further obtains the distance between the first base station and the second base station based on a parameter of a connection line between the multi-port module and the first timing module.
4. The distance acquisition apparatus according to claim 1, wherein the information processor further obtains the distance between the first base station and the second base station based on a parameter of a connection line between the multi-port module and the first antenna.
5. The distance acquisition apparatus according to claim 1, wherein the information processor further obtains the distance between the first base station and the second base station based on a parameter of a connection line between the multi-port module and the ranging signal transmitting module.
6. The distance acquisition apparatus according to claim 1, wherein the information processor further obtains the distance between the first base station and the second base station based on a parameter of a connection line between the second timing module and the second antenna.
7. The distance acquisition apparatus as claimed in claim 1, wherein the information processor further obtains the distance between the first base station and the second base station based on a parameter of a connection line between the first timing module and the ranging signal transmitting module and the synchronization line.
8. The distance acquisition apparatus according to claim 1, wherein the information processor further obtains the distance between the first base station and the second base station based on a parameter of a connection line between the second timing module and the synchronization line.
9. The distance acquisition apparatus according to claim 1, wherein the synchronization line is a wire line.
10. The distance acquisition apparatus according to claim 1, wherein the ranging signal is a UWB signal.
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| CN111989592B (en) * | 2020-07-16 | 2024-04-16 | 北京小米移动软件有限公司 | Ranging method, ranging device, ranging equipment and ranging readable storage medium in synchronous system |
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