CN106879067A - A kind of ultra-wideband wireless positioning method based on Double deference duplex - Google Patents
A kind of ultra-wideband wireless positioning method based on Double deference duplex Download PDFInfo
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- CN106879067A CN106879067A CN201710031059.0A CN201710031059A CN106879067A CN 106879067 A CN106879067 A CN 106879067A CN 201710031059 A CN201710031059 A CN 201710031059A CN 106879067 A CN106879067 A CN 106879067A
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- base station
- label
- wide band
- ultra wide
- time slot
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Classifications
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0247—Determining attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
- G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements
Abstract
The invention discloses a kind of ultra-wideband wireless positioning method based on Double deference duplex, including step：S1：According to tag coordinate refreshing frequency and total number of labels setting time slot；S2：Master base station sends broadcasting instructions to each label, each label is determined itself time slot；S3:Each label sends range finding bag in correspondence time slot, and master base station sends synchronous package after receiving range finding bag；S4：It is each to receive range finding bag, synchronous package respectively from base station, and calculate the time difference Δ t received between signal twicek, k=1,2,3 ... N；S5：According to master base station coordinate, each from base station coordinates and time difference Δ tkCalculated, obtained rk+1‑rkEquation, k=1,2,3 ... N；S6：TDOA resolvings are carried out according to the distance difference calculated in step S5, tag coordinate is obtained.The present invention improves the capacity and efficiency of alignment system, can eliminate the differentia influence between the different base station of different labels, using when base station without synchronous, positioning precision is higher.
Description
Technical field
The present invention relates to wireless positioning field, more particularly to a kind of super wideband wireless positioning side based on Double deference duplex
Method.
Background technology
UWB location technologies belong to one kind of wireless location technology.Wireless location technology refers to for judging mobile subscriber position
The measuring method and computational methods put, i.e. location algorithm.Location technology the most frequently used at present mainly has：Time difference position technolot, letter
Number angle of arrival measurement (AOA) technology, arrival time positioning (TOA) and reaching time-difference are positioned (TDOA) etc..Wherein, TDOA skills
Art is presently the most a kind of popular scheme, except for gsm system, also extensively should in other such as AMPS and cdma system
With what UWB positioning was used is also this technology.
Generally, UWB alignment systems set several location reference points (according to actual needs), to receive tested point (in quantity
Hundred) the Gaussian pulse signal for sending.In order to avoid signal collides, each tested point has the code sequence of oneself.When one
Code sequence is referenced and checks and accepts then in individual Gaussian pulse, and it will integrate in correlator with current generation in a time
Control sequence is made comparisons.When the displacement for receiving signal matches with control signal, that is, there is a correlation peak-to-peak signal high.Thus
Easily determine whether receive correct code sequence.The pulse train that treatment is received obtains the reception time, is calculated to be measured
The coordinate of point.
The advantage of TDOA is, it is not necessary to label (also known as mobile station, node etc.) and base station (also known as anchor node) when
Clock is synchronized, but still need to solve it is synchronous between base station and base station,
The synchronous method that industrial quarters is generally used is, using IEEE-1588 agreements, to be connected using netting twine between node and node
The ethernet physical layer chip for meeting and then holding EEE-1588 by disk enters row clock synchronization.Using high accuracy temperature compensating crystal oscillator feelings
Under condition, can to the error under 1ns, but, the shortcoming of this method be need between base station and base station using netting twine connect, make
It is complicated into construction layout, and the delay variance of the radio-frequency module between base station and base station will also result in error.
Or directly synchronized by the radio communication between base station, but call duration time will be connected more than netting twine, base station
The delay variance of the radio-frequency module between base station can still cause error (0.1 nanosecond error).
Chinese patent application 201610340104.6 provides a kind of method for rapidly positioning based on TDOA, and the method includes
Step：：The foundation of coordinate and range equation, the solution of centre distance, the solution of coordinates of targets, set up distance restraint and sphere is closed
System's constraint, solves the amendment solution of coordinates of targets.The method is mainly solution measured target under low coverage, many scenes of long distance by many
The time difference of individual signal receiver detection carries out the problem of position solution, this method solve closely, remote operation method
Skimble-scamble problem, but the method is not when alignment system work is solved, and base station needs synchronous problem, fixed in the method
When position system works, the differentia influence between each label of each base station is still there is, meanwhile, the program does not improve system
Label capacity and efficiency.
The content of the invention
In view of the shortcomings of the prior art, determine it is an object of the invention to provide a kind of super wideband wireless based on Double deference duplex
Position method, its capacity and efficiency that can lift alignment system can eliminate the difference between the different base station of different labels
Influence, i.e. no matter need not calibrate antenna time delay aborning or in use.Using when base station without synchronous, positioning accurate
Du Genggao.
To achieve the above object, the embodiment of the invention provides a kind of super wideband wireless positioning side based on Double deference duplex
Method, comprises the following steps：
S1：According to tag coordinate refreshing frequency and total number of labels setting time slot；
S2：Master base station sends broadcasting instructions to each label, each label is determined itself time slot；
S3:Each label sends ultra wide band framing signal range finding bag in correspondence time slot, and master base station receives ultra wide band positioning
Ultra wide band framing signal synchronous package is sent after signal range finding bag；
S4：It is each to receive ultra wide band framing signal range finding bag, ultra wide band framing signal synchronous package respectively from base station, and calculate
Receive the time difference Δ t between signal twicek, k=1,2,3 ... N, Δ tkRepresent that kth receives ultra wide band framing signal from base station same
The time difference that step bag is wrapped with the range finding of ultra wide band framing signal；
S5：According to master base station coordinate, each from base station coordinates and time difference Δ tkCalculated, obtained kth+1 from base
Stand and the distance between label rk+1With kth from the distance between base station and label rkDifference, k=1,2,3 ... N；
S6：TDOA resolvings are carried out according to the distance difference calculated in step S5, tag coordinate is obtained.
Compared with prior art, the ultra-wideband wireless positioning method based on Double deference duplex disclosed by the invention is TDOA's
On the basis of, first difference has been carried out again, current difference has the effect of synchronous base station, meanwhile, the delay of the radio-frequency module of base station
Difference and base station Δ tk(ΔtkSize it is relevant with signal transmission rate, be Millisecond, generally 1/10th milliseconds to the maximum
Level) afterwards itself delay time error carry out difference, within the extremely short time, to a certain extent it is considered that base station property in itself not
Change, greatly reduce error.
According to another specific embodiment of the invention, step S2 comprises the following steps：
S21：Instruction includes empty timeslots, and empty timeslots are applied at random by instructing each label to be positioned；
S22：By the empty timeslots for instructing each label not to be positioned to apply at random and not taken by label to be positioned；
S23：Each label not to be positioned turns into label to be positioned after empty timeslots are distributed.
By dividing time slot, empty timeslots, and each label can be improved into time availability, the label for increasing system holds
Amount.
According to another specific embodiment of the invention, step S4 further includes step S41：
By formulaIt is calculated Δ tk, wherein：K=1,2,3 ... N, c represents signal
Transmission speed, t0kRepresent that master base station sends time of the ultra wide band framing signal synchronous package to K from base station, tkRepresent that label sends
Time of the ultra wide band framing signal range finding bag to kth from base station, r0kRepresent master base station with kth from the distance between base station, rkTable
With kth from the distance between base station, Δ T represents that label sends the time difference of ultra wide band framing signal with master base station to indicating label.
According to another specific embodiment of the invention, step S5 includes step S51：
By Δ tk+1-ΔtkThe unit's change that disappear obtains rk+1-rk=c (Δ tk-Δtk+1)+(r0(k+1)-r0k), wherein：C tables
Show signaling rate, rkRepresent label and K from the distance between base station, Δ tkRepresent that K receives ultra wide band positioning from base station
The time difference that signal synchronous package is wrapped with the range finding of ultra wide band framing signal, r0kRepresent master base station and K from the distance between base station.
According to another specific embodiment of the invention, step S5 further includes step S52：
Set up two dimensional surface positioning equation group:r2-r1=c (Δ t1-Δt2)+(r02-r01)
r3-r2=c (Δ t2-Δt3)+(r03-r02)。
According to another specific embodiment of the invention, step S5 further includes step S53：
Set up 3 D stereo positioning equation group:r2-r1=c (Δ t1-Δt2)+(r02-r01)
r3-r2=c (Δ t2-Δt3)+(r03-r02)
r4-r3=c (Δ t3-Δt4)+(r04-r03)。
According to another specific embodiment of the invention, step S6 further includes step S61：
By geometrical relationship formula：
Obtain based on TDOA digitals
The equation of method：
Wherein：Tag coordinate be (x, y), kth from base station coordinates be (xk, yk)。
According to another specific embodiment of the invention, step S6 further includes step S62：
By geometrical relationship formula：
Obtain
Equation based on TDOA digital methods：
Wherein：Tag coordinate be (x, y, z), kth from base station coordinates be (xk, yk, zk)。
According to another specific embodiment of the invention, step S6 further includes step S63：
The two dimensional surface equation group based on TDOA digital methods is set up, and resolves equation group and obtain label two dimension seat
Mark.
According to another specific embodiment of the invention, step S6 further includes step S64：
The 3 D stereo equation group based on TDOA digital methods is set up, and resolves equation group and obtain the three-dimensional seat of label
Mark.
The ultra-wideband wireless positioning method of the Double deference duplex that the present invention is provided, using efficient schedule management method, can prop up
Hold Large Copacity label and eliminate Random collision probability, lift the ability and efficiency of whole alignment system.Resolved using new Double deference
Method, can eliminate the differentia influence between the different base station of different labels, using when base station without synchronous, reduce and set up same
Step difficulty, label and base station are accessed use at any time at any time without calibration, realization, simplify the cumbersome degree of application, and very big reduces cost is carried
Rise Consumer's Experience.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Brief description of the drawings
Fig. 1 is the flow chart of the wireless location method that embodiment 1 is provided；
Fig. 2 is the flow chart of step S2 in Fig. 1；
Fig. 3 is architecture of base station schematic diagram in embodiment 1；
Fig. 4 is label structural representation in embodiment 1.
Specific embodiment
Embodiment 1
It is the flow chart of the ultra-wideband wireless positioning method based on Double deference duplex that the present embodiment 1 is provided referring to Fig. 1.
The localization method comprises the following steps：
S1：According to tag coordinate refreshing frequency and total number of labels setting time slot.
The step is used to set time slot.Time slot is that label receives once command, sends the time that once command is used.This
In embodiment, specifically, it is 320ms to refresh a cycle, including 20ms interval and 100 time slots, each time slot 3ms, often
Individual time slot only allows a labeling task, and when two labels enter same time slot, signal will be collided, and two labels can be same
When do not work.
S2：Master base station sends broadcasting instructions to each label, each label is determined itself time slot.
The step is used to distribute time slot to each label, each label is worked in correspondence time slot.Referring to Fig. 2, the step
Suddenly comprise the following steps：
S21：Instruction includes empty timeslots, and empty timeslots are applied at random by instructing each label to be positioned；
S22：By the empty timeslots for instructing each label not to be positioned to apply at random and not taken by label to be positioned；
S23：Each label not to be positioned turns into label to be positioned after empty timeslots are distributed.
Specifically, when label does not apply for time slot, total time slot is empty timeslots, when label application time slot to be positioned
Afterwards, empty timeslots are that total time slot subtracts time slot current shared by label to be positioned, and during specific implementation, total time slot is according to reality
Demand sets, and is not particularly limited herein.
When alignment system starts, label application time slot to be positioned, now total time slot is including empty timeslots and by mark to be positioned
The time slot for taking is signed, when a certain empty timeslots are by a not label application to be positioned, because surpassing without other in empty timeslots
Broadband signal is disturbed, and master base station can be successfully received application signal, and provide response, and the label not to be positioned can successfully divide
With empty timeslots.
When a certain empty timeslots are by two or more not label applications to be positioned, ultra-broadband signal is interfered, main base
Standing can not effectively receive application signal, and two or more labels not to be positioned cannot be next into distribution of work empty timeslots
Cycle, label not to be positioned applied for empty timeslots again.
After label not to be positioned successfully applies for empty timeslots, it is fixed and uses the empty timeslots, and it turns into be positioned
Label, if but because some reasons, when master base station does not receive the location data of certain label to be positioned for a long time, kick out of the mark
Sign, hereafter, if the label adds alignment system again, need to again apply for time slot.
In order to be better understood from the assigning process of time slot and empty timeslots, now illustrate：Assuming that time slot totally 10 at present, then
Total number of time slot is 10, and a period of time (time is total slot length) is divided equally into ten parts, and gap numbering is：1、2、3、4、5、6、
7、8、9、10.Wherein total number of time slot and total slot length can think setting in the range of physical rules permission.
Current (normal work) label to be positioned just in base station range has 4 (being respectively designated as a, b, c, d), he
The time slot of respective work be 1,5,6,7 totally 4, empty timeslots now are 2,3,4,8,9,10 totally 6,
There are three labels (being respectively designated as e, f, g) not to be positioned to enter system from the outside of whole system coverage,
Three labels not to be positioned have been switched on, and enter the coverage of base station, and as all of label a, b, c, d, e, f, g receives master
After the broadcasting instructions of base station, label a, b, c, d does not do and reacts, and continues to be worked according to original time slot；Label e, f, g start from blank
Time slot (empty timeslots be 2,3,4,8,9,10 totally 6) is randomly choosed in time slot.
Assuming that the time slot that label e chooses is 3, the time slot that label f and g choose all is 8, then e will be in the correspondence of time slot 3
Time hair ultra-broadband signal, because without signal interference, master base station can receive the signal, while master base station is given time slot 3 is interior
Label e is given to respond, label e receives response, and whole process is referred to as time slot application.Similarly label f and g is in the corresponding time slot of time slot 8
Hair ultra-broadband signal, because their signals are interfered, master base station can not recognize specifying information, and master base station has no idea to respond, mark
Label can not receive response certainly, and referred to as application failure, it is necessary to apply again.
Empty timeslots now are 2,4,8,9,10 totally 5, and time slot 3 has been applied, the signal conflict of time slot 8, causes Shen
Please fail, so still empty slot.Label f and g will repeat above procedure, until completing to apply.
S3:Each label sends ultra wide band framing signal range finding bag in correspondence time slot, and master base station receives ultra wide band positioning
Ultra wide band framing signal synchronous package is sent after signal range finding bag.
The step is used for label and master base station sends ultra wide band framing signal respectively.Specifically, referring to Fig. 3, Fig. 3 is this reality
Label structural representation in example is applied, label includes processor 11, ultra-broadband signal transceiver module 12, wifi module 13, power supply mould
Block 14, sensor assembly 15, sensor assembly includes：Acceleration transducer, temperature sensor；Can select to pass according to actual needs
Sensor.Referring to Fig. 4, Fig. 4 is architecture of base station schematic diagram in the present embodiment, base station include processor 21, ultra wide band transceiver module 22,
High-gain aerial 23 corresponding with ultra wide band transceiver module, WiFi module 24 high-gain aerial 25, net corresponding with WiFi module
Network interface module 26, power module 27.
During specific implementation, label sends ultra wide band and positions in the time slot applied by ultra-broadband signal transceiver module 12
Signal range finding bag, it is received by the ultra wide band transceiver module 22 of master base station, and the ultra wide band transceiver module 22 of master base station sends immediately
Ultra wide band framing signal synchronous package.
S4：It is each to receive ultra wide band framing signal range finding bag, ultra wide band framing signal synchronous package respectively from base station, and calculate
Receive the time difference Δ t between signal twicek, k=1,2,3 ... N, Δ tkRepresent that kth receives ultra wide band framing signal from base station same
The time difference that step bag is wrapped with the range finding of ultra wide band framing signal.
The step is used to calculate kth from base station reception ultra wide band framing signal synchronous package and ultra wide band framing signal range finding bag
Time difference Δ tk.Specifically, the step further includes step S41：
By formulaIt is calculated Δ tk, wherein：K=1,2,3 ... N, c represents signal
Transmission speed, t0kRepresent that master base station sends time of the ultra wide band framing signal synchronous package to K from base station, tkRepresent that label sends
Time of the ultra wide band framing signal range finding bag to kth from base station, r0kRepresent master base station with kth from the distance between base station, rkTable
With kth from the distance between base station, Δ T represents that label sends the time difference of ultra wide band framing signal with master base station to indicating label.
Specifically, calculating time difference Δ t by respective processor from base stationkPass through wifi module 24 afterwards by result of calculation
It is transferred to server.
S5：According to master base station coordinate, each from base station coordinates and time difference Δ tkCalculated, obtained kth+1 from base
Stand and the distance between label rk+1With kth from the distance between base station and label rkDifference, k=1,2,3 ... N.
The step is used to be obtained apart from eikonal equation by the difference equation of time difference.Specifically, the step includes step S51
~S53：
S51：By Δ tk+1-ΔtkThe unit's change that disappear obtains rk+1-rk=c (Δ tk-Δtk+1)+(r0(k+1)-r0k), wherein：
C represents signaling rate, rkRepresent label and K from the distance between base station, Δ tkRepresent that K receives ultra wide band from base station
The time difference that framing signal synchronous package is wrapped with the range finding of ultra wide band framing signal, r0kRepresent master base station and K between base station away from
From.
S52：Set up two dimensional surface positioning equation group:r2-r1=c (Δ t1-Δt2)+(r02-r01)
r3-r2=c (Δ t2-Δt3)+(r03-r02)。
S53：Set up 3 D stereo positioning equation group:r2-r1=c (Δ t1-Δt2)+(r02-r01)
r3-r2=c (Δ t2-Δt3)+(r03-r02)
r4-r3=c (Δ t3-Δt4)+(r04-r03)。
Specifically, two dimensional surface positioning at least needs a master base station, three from base station；3 D stereo positioning at least needs
One master base station, four from base station.During specific implementation, can increase from number of base stations come positioning accurate of finalizing a text according to actual needs
Degree.
During specific implementation, server is receiving the time difference Δ t from base station transmissionkBuilt with reference to the given data of base station afterwards
Vertical equation group, the given data includes master base station and K from the distance between base station r0kAnd the spread speed c of signal.
S6：TDOA resolvings are carried out according to the distance difference calculated in step S5, tag coordinate is obtained.
The step is used to calculate tag coordinate.Specifically, the step includes step S61~S64:
S61：By geometrical relationship formula：
Obtain based on TDOA digitals
The equation of method：
Wherein：Tag coordinate be (x, y), kth from base station coordinates be (xk, yk)。
S62：By geometrical relationship formula：
Obtain
Equation based on TDOA digital methods：
Wherein：Tag coordinate be (x, y, z), kth from base station coordinates be (xk, yk, zk)。
S63：The two dimensional surface equation group based on TDOA digital methods is set up, and resolves equation group and obtain label two
Dimension coordinate.
S64：The 3 D stereo equation group based on TDOA digital methods is set up, and resolves equation group and obtain label three
Dimension coordinate.
Specifically, after geometrical relationship formula is converted and sets up the equation group based on TDOA digital methods, passing through
The settlement method of TDOA resolves the coordinate of outgoing label.
The present embodiment distributes time slot by setting time slot to each label, each label is worked in respective time slot, makes
Alignment system can support that Large Copacity label eliminates Random collision probability, lift the ability and efficiency of whole alignment system.This reality
Apply example carries out difference again by by the time difference, can eliminate the differentia influence between the different base station of different labels, application
Shi Jizhan is reduced and is set up synchronous difficulty without synchronous；, without calibration, realization accesses use at any time at any time for label and base station；Simplify
Using cumbersome degree；Very big reduces cost lifting Consumer's Experience.
Although the present invention is disclosed above with preferred embodiment, the scope of present invention implementation is not limited to.Any
The those of ordinary skill in field, is not departing from invention scope of the invention, when that can make a little improvement, i.e., every according to this hair
Bright done equal improvement, should be the scope of the present invention and is covered.
Claims (10)
1. it is a kind of based on Double deference duplex ultra-wideband wireless positioning method, it is characterised in that comprise the following steps：
S1：According to tag coordinate refreshing frequency and total number of labels setting time slot；
S2：Master base station sends broadcasting instructions to each label, each label is determined itself time slot；
S3:Each label sends ultra wide band framing signal range finding bag in correspondence time slot, and master base station receives the ultra wide band
Ultra wide band framing signal synchronous package is sent after framing signal range finding bag；
S4：It is each to receive ultra wide band framing signal range finding bag, the ultra wide band framing signal synchronous package respectively from base station, and
Calculate the time difference Δ t received between signal twicek, k=1,2,3 ... N, Δ tkRepresent that kth receives the ultra wide band and determines from base station
The time difference that position signal synchronous package is wrapped with the range finding of ultra wide band framing signal；
S5：According to the master base station coordinate, it is each described in from base station coordinates and the time difference Δ tkCalculated, obtained
K+1 is from the distance between base station and label rk+1With kth from the distance between base station and label rkDifference, k=1,2,3 ... N；
S6：TDOA resolvings are carried out according to the distance difference calculated in step S5, tag coordinate is obtained.
2. localization method as claimed in claim 1, it is characterised in that the step S2 comprises the following steps：
S21：The instruction includes empty timeslots, and the empty timeslots are applied at random by each label to be positioned of instruction；
S22：The empty timeslots for applying not taken by label to be positioned at random by each label not to be positioned of instruction；
S23：Each label not to be positioned turns into label to be positioned after empty timeslots are distributed.
3. localization method as claimed in claim 1, it is characterised in that the step S4 further includes step S41：
By formulaIt is calculated Δ tk, wherein：K=1,2,3 ... N, c represents signal transmission
Speed, t0kRepresent that master base station sends time of the ultra wide band framing signal synchronous package to K from base station, tkRepresent that label sends ultra-wide
Time with framing signal range finding bag to kth from base station, r0kRepresent master base station with kth from the distance between base station, rkRepresent mark
Sign with kth from the distance between base station, Δ T represents that label sends the time difference of ultra wide band framing signal with master base station.
4. localization method as claimed in claim 3, it is characterised in that the step S5 includes step S51：
By Δ tk+1-ΔtkThe unit's change that disappear obtains rk+1-rk=c (Δ tk-Δtk+1)+(r0(k+1)-r0k), wherein：C represents letter
Number transmission speed, rkRepresent label and K from the distance between base station, Δ tkRepresent that K receives the ultra wide band positioning from base station
The time difference that signal synchronous package is wrapped with the range finding of ultra wide band framing signal, r0kRepresent master base station and K from the distance between base station.
5. localization method as claimed in claim 4, it is characterised in that the step S5 further includes step S52：
Set up two dimensional surface positioning equation group:r2-r1=c (Δ t1-Δt2)+(r02-r01)
r3-r2=c (Δ t2-Δt3)+(r03-r02)。
6. localization method as claimed in claim 5, it is characterised in that the step S5 further includes step S53：
Set up 3 D stereo positioning equation group:r2-r1=c (Δ t1-Δt2)+(r02-r01)
r3-r2=c (Δ t2-Δt3)+(r03-r02)
r4-r3=c (Δ t3-Δt4)+(r04-r03)。
7. localization method as claimed in claim 4, it is characterised in that including：The step S6 further includes step S61：
By geometrical relationship formula：
Obtain based on TDOA digital methods
Equation：
Wherein：Tag coordinate be (x, y), kth from base station coordinates be (xk, yk)。
8. localization method as claimed in claim 7, it is characterised in that including：The step S6 further includes step S62：
By geometrical relationship formula：
It is based on
The equation of TDOA digital methods：
Wherein：Tag coordinate be (x, y, z), kth from base station coordinates be (xk, yk, zk)。
9. localization method as claimed in claim 8, it is characterised in that including：The step S6 further includes step S63：
The two dimensional surface equation group based on TDOA digital methods is set up, and resolves the equation group and obtain label two dimension seat
Mark.
10. localization method as claimed in claim 9, it is characterised in that including：The step S6 further includes step S64：
The 3 D stereo equation group based on TDOA digital methods is set up, and resolves the equation group and obtain the three-dimensional seat of label
Mark.
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN107257579A (en) * | 2017-07-11 | 2017-10-17 | 杭州品铂科技有限公司 | A kind of method for synchronizing time of UWB high-accuracy position systems |
| CN107257579B (en) * | 2017-07-11 | 2020-02-28 | 杭州品铂科技有限公司 | Time synchronization method of UWB high-precision positioning system |
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| CN111163431A (en) * | 2019-12-29 | 2020-05-15 | 合肥工业大学 | Ultra Wide Band (UWB) wireless communication distance measurement and positioning method and system for underground locomotive |
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