CN107131885A - A kind of indoor infrared 3D positioning measurment systems and locating measurement method - Google Patents
A kind of indoor infrared 3D positioning measurment systems and locating measurement method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
The invention discloses a kind of indoor infrared 3D positioning measurment systems and locating measurement method, including for producing simultaneously modulate emission signal, produce wireless signal to transmit the system main website of the position coordinates of current transmitting base station by wireless transmitter module, the transmitting base station that modulation signal for system main website to be sent is converted into infrared signal and launched, for receiving infrared signal and being demodulated and phase measurement, obtain after the distance away from n transmitting base station, obtain receiving device of the pick-up probe in the three-dimensional coordinate in space.System main website produces modulate emission signal by master oscillator and local oscillator, the infrared signal modulated by n transmitter transmitting；Emission system master control crystal oscillator and the sinusoidal reference signals that receiving module master control crystal oscillator is produced different phases with frequency in a short time, actual range between transmitter and receiver is obtained by solving Navigation and positioning equations.The present invention can realize the positioning of degree of precision magnitude in the environment of plant.
Description
Technical field
The invention belongs to accurate measurement, technical field of navigation and positioning is related to a kind of indoor infrared 3D coordinate settings measurement system
System and locating measurement method.
Background technology
Due to continuing to develop for Modern Information, oneself warp of positioning service turns into a part essential during we live.
Wherein foremost alignment system is global positioning system (GPS), the receiver that it is carried by 24 orbiters and target
A network is constituted, navigation locating function is realized.In recent years, indoor positioning provides a kind of referred to as automatic detection object's position
New automatic system.The automation of these in reality indoor positioning has many examples.For example, position of the detection article in warehouse
Put, position the position of medical worker or the position of medicine equipment, detection fire fighter in the building caught fire in detection hospital
Put, find each local maintenance tool and equipment are dispersed in factory, more important point is carried for automation equipment in factory
For accurate location navigation function, so as to greatly improve industrial automatization level.
GPS technology application is measured indoors, not only equipment is complicated, expensive, and serious multipath effect can be produced
Should.Conventional indoor positioning technologies also have infrared ray (IR) technology, Wi-Fi technology, ultra wide band (UWB) technology, radio frequency identification
(RFID) technology etc., the positioning precision of these location technologies, can in the not high occasion of required precision substantially all more than Centimeter Level
To use.
The content of the invention
To solve drawbacks described above present in prior art, it is an object of the invention to provide a kind of indoor infrared 3D positioning
Measuring system, the system is combined with Laser Range Finding Based on Phase and GPS location principle, and range accuracy is higher, and positioning precision can be with
Accomplish mm grades, it is compared with iGPS systems, it is not necessary to complicated motor driving apparatus, it is not required that high-precision fan laser rotation
Rotary head, it is only necessary to the device of the similar iGPS zero signals transmitting at least 4 stations, can produce the infrared light modulated, along with one
Individual infrared light-receiving and processing unit are that accurate coordinate setting can be achieved.On the one hand distance is sought using phase measurement, it is positioned
Precision to reach higher than general Wi-Fi technology, ultra wide band (UWB) technology, radio frequency identification (RFID) technology precision level；It is another
Aspect, its each module cost and complexity will be less than gps system.
The present invention also aims to provide a kind of indoor infrared 3D locating measurement methods.
The present invention is realized by following technical proposals.
A kind of indoor infrared 3D positioning measurment systems, including：
System main website, for producing simultaneously modulate emission signal, produces wireless signal by wireless transmitter module and works as to transmit
The position coordinates of preceding transmitting base station；
Transmitting base station, the modulation signal for system main website to be sent is converted into infrared signal and launched
Go；
Receiving device, for receiving infrared signal and being demodulated and phase measurement, obtain away from n transmitting base station away from
From rear, three-dimensional coordinate of the pick-up probe in space is obtained using least square method；
The system main website and transmitting base station include transmitter module, and receiving device includes receiving module；
The transmitter module includes master oscillator I and local oscillator I, the interface channel of master oscillator I selection
The infrared signal that n transmitter transmitting is modulated is connected with device, channel to channel adapter；The local oscillator I is connected jointly
Two frequency mixers, master oscillator I connects one of frequency mixer I, and demarcation receiver signal connects another frequency mixer II, two
Individual mixer signal enters MCU controllers to observe the first difference of transmitting base station transmission signal, and MCU controllers pass through wireless transmission
Transmitting base station and corresponding just difference are sent to receiver and carry out equation in coordinates solution by module；
The receiving module includes the receiver for receiving the infrared signal that transmitter is modulated, and receiver is connected to signal
Frequency mixer, signal mixer connects local oscillator II all the way, and master oscillator II and local oscillator II are sequentially connected jointly
Parametric mixer and signal mixer, signal mixer after filtering amplifier I, parametric mixer amplifier II is defeated after filtering
The signal gone out is connected to MCU phase comparators with the first wireless signal that differs that wireless receiving module is received；Through phase bit comparison and seat
After mark is solved, the three-dimensional coordinate of infrared 3D positioning measurements is shown by display.
As preferred scheme, the transmitter is that Si avalanche photodides transmitting service band is 400~1100nm
Visible ray and near infrared light wave band；Or the 1300nm launched for Ge and InGaAs avalanche photodides optical communicating waveband.
The present invention so give a kind of indoor infrared 3D locating measurement methods, comprise the steps：
1) system main website produces modulate emission signal by master oscillator I and local oscillator I, passes through n transmitter
Launch the infrared signal modulated；
2) master oscillator I and local oscillator I connect two frequency mixers jointly, and master oscillator I connects one of them
Frequency mixer, demarcation receiver signal connects another frequency mixer, and two mixer signals enter MCU controllers to observe transmitting base
The first difference for transmission signal of standingMCU controllers are by wireless transmitter module by transmitting base station and corresponding first phase
Difference is sent to receiver and carries out equation in coordinates solution；
3) sinusoidal reference signals that emission system master control crystal oscillator and receiving module master control crystal oscillator are produced are in a short time with frequency
Different phases, actual range between transmitter and receiver is obtained by solving Navigation and positioning equations.
It is used as the preferred scheme of method, the step 3) in, the actual range between transmitter and receiver passes through as follows
Mode is realized：
3a) sinusoidal reference signals that emission system master control crystal oscillator and receiving module master control crystal oscillator are produced are in a short time with frequency
Different phases, the difference initially produced isDetermine the phase of transmitter of the transmitter relative to master control benchmarkAll is first
Mutually all determined by demarcating, then it is as follows apart from observational equation：
The difference that detector is observed subtracts the first difference of transmitterTransmitting is subtracted again and receives reference signal differenceCorresponding distance is just the actual range between transmitter and receiver：
In formula,Phase difference between the cell site obtained for receiver by directly observing and receiver
The relative distance calculated；λ is transmitting modulated signal wavelength；For the phase of j-th of transmitter to detector；For demarcation
I-th of transmitting base station relative transmission module reference signal first difference；Be receiving module reference signal relative to transmitting mould
The first difference of block reference signal；xj,yj,zjThree components of respectively surveyed base station j coordinate values in world coordinate system；
Each cell site's correspondence one is apart from observational equation, if one has n cell site, j is from 1 to n values, altogether
There is n observational equation；
3b) by formula (1.1) in target general location x0,y0,z0And infrared detector differenceLocate Taylor expansion linear
Equation, is obtained：
L=A Δs X (1.5).
It is different according to the number that receiver receives transmitting base station as the preferred scheme of method, there is following calculation method：
When observing the signal of 4 base stations, m=4 can be resolved by equation (1.5) and obtained：
Δ X=A-1·L (1.7)
Or have
In formula, X0For detector original estimated coordinate；For the point coordinates of detector to be asked in three dimensions.
It is different according to the number that receiver receives transmitting base station as the preferred scheme of method, there is following calculation method：
When the base station signal for observing more than 4, m>When 4, the valuation for obtaining undetermined parameter using Gauss-Markov estimation is：
In formula, ATFor the transposition of matrix A；For the point coordinates of detector to be asked in three dimensions.
Indoor infrared 3D positioning measurment systems of the present invention are by measurement signal phase solution distance and coordinate, using apFFT
Fine phase e measurement technology improves the precision of whole alignment system, it does not need GSP system complex signal condition mechanism and
Expensive atomic clock equipment, it is not required that similar iGPS rotating mechanism, mode that can be at lower cost is in factory's ring
The positioning (mm grades) of degree of precision magnitude is realized in border, so as to the propulsion factory automation level of high degree.
Brief description of the drawings
Fig. 1 is indoor infrared 3D alignment system schematic diagrames；
Fig. 2 is indoor infrared positioning system functional block diagram；
Fig. 3 is transmitter coverage schematic diagram；
Fig. 4 is time division multiple acess sequential of each base station with receiving photodetector；
Fig. 5 is sinusoid fiducial test signal；
Fig. 6 is that apFFT amplitude spectrums and phase spectrum compose contrast with FFT Amplitude ＆ Phases；
Fig. 7 is phase estimation error and Between Signal To Noise Ratio curve.
Embodiment
The invention will be described in further detail with reference to the accompanying drawings and examples, but is not intended as doing any limit to invention
The foundation of system.
As shown in figure 1, whole system include system main website, n transmitting base station and receiving device, system main website it is main
Function is to produce and modulate emission signal, produces wireless signal to transmit the position of current transmitting base station by wireless transmitter module
Coordinate, when pick-up probe samples current infrared tube transmission signal, wireless module receives the position seat of the infrared transmitting tube simultaneously
Mark；The major function of transmitting base station is that the modulation signal for bringing main website is converted into infrared signal and launched, and is connect
Receiving unit is used for receiving infrared signal and being demodulated and phase measurement, obtains and minimum is utilized after the distance away from n cell site
Square law obtains three-dimensional coordinate of the pick-up probe in space.
As shown in Fig. 2 system main website and transmitting base station include transmitter module, receiving device includes receiving module.Hair
Penetrating module includes connecting on master oscillator I and local oscillator I, the interface channel selector of master oscillator I, channel to channel adapter
There is the infrared signal that n transmitter transmitting is modulated；Local oscillator I connects two frequency mixers jointly, and master oscillator I connects
One of frequency mixer I is connect, demarcation receiver signal connects another frequency mixer II, and two mixer signals are controlled into MCU
Device observes the first difference of transmitting base station transmission signal, and MCU controllers are by wireless transmitter module by transmitting base station and corresponding
Just difference is sent to receiver and carries out equation in coordinates solution.
Receiving module includes the receiver for receiving the infrared signal that transmitter is modulated, and receiver is connected to signal mixing
Device, signal mixer connects local oscillator II all the way, and master oscillator II and local oscillator II are sequentially connected reference jointly
Frequency mixer and signal mixer, signal mixer after filtering amplifier I, parametric mixer after filtering amplifier II export
Signal is connected to MCU phase comparators with the first wireless signal that differs that wireless receiving module is received；Asked through phase bit comparison and coordinate
Xie Hou, the three-dimensional coordinate of infrared 3D positioning measurements is shown by display.
Wherein, transmitter is that Si avalanche photodides launch the visible ray that service band is 400~1100nm and near red
Outer optical band；Or the 1300nm launched for Ge and InGaAs avalanche photodides optical communicating waveband.
Because the signal that infrared emission base station is sent is produced by system main website, and there is distance and device in each base station
Difference, even if each base station is to long optical fibers such as the line uses of system main website, cannot guarantee that each base station is launched in synchronization and believes
Number same phase, so receiving base station to observe the first facial difference of each infrared transmitting tube base station using demarcationIt is sent to
Receiver is resolved.It will be differed at the beginning of transmitting and receiving module reference signalAs unknown number, more than at least 4 stations and 4 stations
Observational equation group, solving equation to obtain
The indoor infrared 3D locating measurement methods of the present invention are as follows：
1) system main website produces modulate emission signal by master oscillator I and local oscillator I, passes through n transmitter
Launch the infrared signal modulated；
2) master oscillator I and local oscillator I connect two frequency mixers jointly, and master oscillator I connects one of them
Frequency mixer, demarcation receiver signal connects another frequency mixer, and two mixer signals enter MCU controllers to observe transmitting base
The first difference for transmission signal of standingMCU controllers are by wireless transmitter module by transmitting base station and corresponding first phase
Difference is sent to receiver and carries out equation in coordinates solution；
3) sinusoidal reference signals that emission system master control crystal oscillator and receiving module master control crystal oscillator are produced are in a short time with frequency
Different phases, actual range between transmitter and receiver is obtained by solving Navigation and positioning equations.
As illustrated in fig. 2, it is assumed that the sinusoidal reference signals that emission system master control crystal oscillator and receiving module master control crystal oscillator are produced exist
With frequency difference phases in short time, apart from short without whole-cycle ambiguities, the difference initially produced isAnd transmitter 1 is relative to master
Control the transmitter, phase of benchmarkTransmitter 2 is relative to the transmitter, phase of master control benchmarkTransmitter 3 isThe like.
All first phases are all determined by demarcating.It is then as follows apart from observational equation：
The difference that detector is observed subtracts the first difference of transmitterTransmitting is subtracted again and receives reference signal differenceCorresponding distance is just the actual range between transmitter and receiver：
X in formulaj,yj,zjBy survey base station j coordinate values in world coordinate system three components；xi,yi,ziVisited for photoelectricity
Survey three components of device coordinate value in world coordinate system；The cell site obtained for receiver by directly observing
The relative distance that phasometer between receiver is calculated；λ is transmitting modulated signal wavelength；Arrived for j-th of transmitter
The phase of detector；For the first difference of i-th of transmitting base station relative transmission module reference signal of demarcation；To receive mould
First difference of the block reference signal relative to transmitter module reference signal；
Linearize observational equation
Because formula (1.1) is the nonlinear equation on unknown parameter, linearization process must be carried out when solving equation.
Each cell site's correspondence one is apart from observational equation, if one has n cell site, j has n sight from 1 to n values, one
Survey equation.
Now by formula (1.1) in target general location x0,y0,z0And infrared detector differenceLocate the linear side of Taylor expansion
Journey, then have：
Wherein
In formula, Δ x, Δ y, Δ z is the corrected value of target location coordinate, as Δ x=xi-x0, Δ y=yi-y0, Δ z=
zi-z0；In shorter observation time, receiver difference is usedRepresent.
Equation group (1.2) simultaneous that now (1.1) are obtained after changing conversion, and make
In formula, L is to receive the range error sum that reference signal phase difference is caused by Taylor expansion error and transmitting；Li
(ti) it is i-th transmitting base station to receiving what reference signal phase difference was caused by Taylor expansion error and transmitting between receiver
Range error sum；A is the coefficient matrix that Taylor expansion error and transmitting receive reference signal phase difference；li(ti) it is x directions
Range error coefficient between i-th of cell site and receiver；mi(ti) it is that distance is missed between i-th of y directions cell site and receiver
Poor coefficient；ni(ti) it is range error coefficient between i-th of z directions cell site and receiver；Δ X is i-th of x directions cell site
The range error between receiver；Δ Y is range error between i-th of y directions cell site and receiver；Δ Z is z directions i-th
Range error between individual cell site and receiver；It is poor that reference signal phase is received for transmitting；
Obtain：
L=A Δs X (1.6)
It is different according to the number that receiver receives transmitting base station, there is the calculation method of following two situations：
(1) when observing the signal of 4 base stations (m=4), it can be resolved and obtained by equation (1.6)：
Δ X=A-1·L (1.7)
Or have
In formula, X0For detector original estimated coordinate；For the point coordinates of detector to be asked in three dimensions.
(2) as the base station signal (m for observing more than 4>4) when, ginseng undetermined is obtained using Gauss-Markov estimation
Several valuations are：
In formula, ATFor the transposition of matrix A；For the point coordinates of detector to be asked in three dimensions.
Requirement of the present invention to transmitter is given below.
1) emitter types and service band：
Emitter types：LED.
Service band：400~1100nm visible ray and near infrared light wave band；
1300nm optical communicating waveband；
Modulating frequency requirement：10~40MHz
Launch half-power angle：The specific angle of departure is determined by formula (2.1) and (2.2) and arrangement manner；
The main APD photodetectors response frequency range by that can inquire at present of selection of emission band determines, 400~
It is mainly Si avalanche photodides in 1100nm wave bands.There is Ge and InGaAs snowslide light in light communication exclusive band 1300nm
Electric diode.
The relation of half-power angle, cloth station height and signal cover：
Transmitter is mainly made up of emitting led, as shown in figure 3, the half-power angle of transmitter is θ, it is most upper away from measurement space
The distance on edge is H, then what LED launched that light projected in measured zone is an elliptic region, the major axis and short axle point in the region
It is not：
AB=Hgtan (θ) (2.1)
Then the measurement range of LED transmitting tubes signal covering is：
Assuming that LED half-power angles are 60 °, its signal will cover 5m × 5m measurement space, be calculated according to (2.1) (2.2)
Height of the transmitter away from the most upper edge of measurement space can be obtained and be at least 3.64m.
2) operating distance of infrared transmitting tube
The operating distance of infrared transmitting tube is relevant with transmitting tube power and pick-up probe response sensitivity.Transmitter is opened
The solid angle opened isR be the photosensitive radius surface of photodetector, from detector away from
Solid angle corresponding from R placesThe mean power that then detector is received is as follows：
Assuming that a diameter of φ 5 of photodetector, detector sensitivity is 50uA~60uA/uW, its minimum response current
It is 10uA, then the minimum luminous power required for it is 0.2uW, from above formula (2.4), if farthest operating distance R=10m,
It is required that LED minimum emissive power is 857mW.
3) the modulated frequency of infrared transmitting tube
The LED transmitting tubes of 25MHz modulating frequencies can be reached by having inquired at present, and its corresponding modulating wave wavelength is 12
Rice, if to reach 7.5mm range measurement accuracy, the requirement of phase measurement accuracy is 0.625 ‰, if LED's is adjustable
Frequency processed brings up to 40MHz, then corresponding modulation wavelength is 7.5m, under the conditions of the range measurement accuracy for equally reaching 7.5mm, phase
As long as position measurement accuracy reaches 1 ‰, with the raising of the modulated frequencies of LED, under identical range accuracy, to phase measurement
The requirement of precision can be reduced.
Distinguish multistation signal using time division multiple acess, system sequence control as shown in figure 4, system high precision clock essence
Under close time control, the infrared light emission signal that timesharing in lock-out pulse trigger signal, a cycle triggers four base stations is produced,
Opto-electronic receiver module has the precision interval clock source of oneself, produces respective local oscillation signal, and its clock can be launched and connect with relatively independent
Receive the main difference shakenIt can solve and from equation, high-speed sampling is carried out by the optical signal to each station and apFFT becomes
Change and obtain after the phase information that each base station reaches detector, it is possible to obtain photodetector to the range information of each base station.
Modulation demodulation system can also distinguish each station signal by the way of modulation pseudo noise code, and navigation message is (main
If the coordinate information of base station) one-level modulation is produced with pseudo noise code, secondary modulation then is produced with carrier signal, in receiving terminal
The signal of respective base station is obtained by the matching to pseudo noise code and carrier phase resolving is carried out.
Phase-detection is carried out using apFFT
ApFFT methods phase measurement accuracy can reach 10 in theory-9Magnitude, generates benchmark test signal in MATLAB, if
Determine initial phase (initial 100 ° of setting), be illustrated in fig. 5 shown below.
From fig. 6, it can be seen that common FFT only carry out it is strict it is integer-period sampled block in the case of, frequency
The phase that spectrum is carried is only the real phase of signal, otherwise just has larger phase error, has a strong impact on phase-measurement accuracy.And
ApFFT is due to phase invariance, no matter that is, it can really reflect in any case after pretreatment and conversion
The initial phase of original signal, and phase-measurement accuracy is at a relatively high, and in the case of above-mentioned no measurement noise, it, which measures the phase come, is
100.000000000531 °, error 10-9Magnitude, but in actual applications, due to the presence of measurement noise, phase-measurement accuracy can become
Difference, but can be by measurement averaging reduction measurement error.The signal to noise ratio of measurement signal there are certain requirements, general relationship is bent
Line is as shown in Figure 7.
The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area
Art personnel are according to disclosed technology contents, it is not necessary to which performing creative labour just can make one to some of which technical characteristic
A little to replace and deform, these are replaced and deformed within the scope of the present invention.
Claims (6)
1. a kind of indoor infrared 3D positioning measurment systems, it is characterised in that including：
System main website, for producing simultaneously modulate emission signal, produces wireless signal to transmit current hair by wireless transmitter module
Penetrate the position coordinates of base station；
Transmitting base station, the modulation signal for system main website to be sent is converted into infrared signal and launched；
Receiving device, for receiving infrared signal and being demodulated and phase measurement, obtains the distance away from n transmitting base station
Afterwards, three-dimensional coordinate of the pick-up probe in space is obtained using least square method；
The system main website and transmitting base station include transmitter module, and receiving device includes receiving module；
The transmitter module includes master oscillator I and local oscillator I, and the interface channel selector of master oscillator I leads to
The infrared signal that n transmitter transmitting is modulated is connected with track selector；Connection two is mixed the local oscillator I jointly
Frequency device, master oscillator I connects one of frequency mixer I, and demarcation receiver signal connects another frequency mixer II, two mixing
Device signal enters MCU controllers to observe the first difference of transmitting base station transmission signal, and MCU controllers will by wireless transmitter module
Transmitting base station and corresponding just difference are sent to receiver and carry out equation in coordinates solution；
The receiving module includes the receiver for receiving the infrared signal that transmitter is modulated, and receiver is connected to signal mixing
Device, signal mixer connects local oscillator II all the way, and master oscillator II and local oscillator II are sequentially connected reference jointly
Frequency mixer and signal mixer, signal mixer after filtering amplifier I, parametric mixer after filtering amplifier II export
Signal is connected to MCU phase comparators with the first wireless signal that differs that wireless receiving module is received；Asked through phase bit comparison and coordinate
Xie Hou, the three-dimensional coordinate of infrared 3D positioning measurements is shown by display.
2. a kind of indoor infrared 3D positioning measurment systems according to claim 1, it is characterised in that the transmitter is Si
Visible ray and near infrared light wave band that avalanche photodide transmitting service band is 400~1100nm；Or be Ge and InGaAs
The 1300nm of avalanche photodide transmitting optical communicating waveband.
3. a kind of indoor infrared 3D locating measurement methods, it is characterised in that comprise the steps：
1) system main website produces modulate emission signal by master oscillator I and local oscillator I, is launched by n transmitter
The infrared signal modulated；
2) master oscillator I and local oscillator I connect two frequency mixers jointly, and master oscillator I connects one of mixing
Device, demarcation receiver signal connects another frequency mixer, and two mixer signals enter MCU controllers to observe transmitting base station hair
Penetrate the first difference of signalMCU controllers are sent out transmitting base station and corresponding just difference by wireless transmitter module
Give receiver and carry out equation in coordinates solution；
3) emission system master control crystal oscillator is different with frequency in a short time with the sinusoidal reference signals that receiving module master control crystal oscillator is produced
Phase, actual range between transmitter and receiver is obtained by solving Navigation and positioning equations.
4. a kind of indoor infrared 3D locating measurement methods according to claim 3, it is characterised in that the step 3) in,
Actual range between transmitter and receiver is realized in the following way：
3a) emission system master control crystal oscillator is different with frequency in a short time with the sinusoidal reference signals that receiving module master control crystal oscillator is produced
Phase, the difference initially produced isDetermine the phase of transmitter of the transmitter relative to master control benchmarkAll first phases are all
Determined by demarcating, then it is as follows apart from observational equation：
The difference that detector is observed subtracts the first difference of transmitterTransmitting is subtracted again and receives reference signal differenceIt is right
The distance answered just is the actual range between transmitter and receiver：
In formula,Phase difference calculating between the cell site obtained for receiver by directly observing and receiver
The relative distance gone out；λ is transmitting modulated signal wavelength；For the phase of j-th of transmitter to detector；For the of demarcation
The first difference of i transmitting base station relative transmission module reference signal；It is receiving module reference signal relative to transmitter module base
The first difference of calibration signal；xj,yj,zjThree components of respectively surveyed base station j coordinate values in world coordinate system；
3b) by formula (1.1) in target general location x0,y0,z0And infrared detector differenceLocate the linear equation of Taylor expansion,
Then have：
Wherein
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<msup>
<mi>x</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>x</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>y</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>z</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
</mrow>
<mrow>
<msub>
<mi>m</mi>
<mi>j</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msup>
<mi>y</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>x</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>y</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>z</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
</mrow>
<mrow>
<msub>
<mi>n</mi>
<mi>j</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msup>
<mi>z</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>0</mn>
</msub>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>x</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>y</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>z</mi>
<mi>j</mi>
</msup>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
</mrow>
In formula, Δ x, Δ y, Δ z is the corrected value of target location coordinate, as Δ x=xi-x0, Δ y=yi-y0, Δ z=zi-
z0；In shorter observation time, receiver difference is usedRepresent；
3c) equation group (1.1) simultaneous that will be obtained after changing conversion, and making
In formula, L is to receive the range error sum that reference signal phase difference is caused by Taylor expansion error and transmitting；Li(ti)
For i-th of transmitting base station to the distance caused between receiver by Taylor expansion error and transmitting reception reference signal phase difference
Error sum；A is the coefficient matrix that Taylor expansion error and transmitting receive reference signal phase difference；li(ti) it is x directions i-th
Range error coefficient between individual cell site and receiver；mi(ti) it is range error between i-th of y directions cell site and receiver
Coefficient；ni(ti) it is range error coefficient between i-th of z directions cell site and receiver；Δ X be i-th of x directions cell site with
Range error between receiver；Δ Y is range error between i-th of y directions cell site and receiver；Δ Z is z directions i-th
Range error between cell site and receiver；It is poor that reference signal phase is received for transmitting；
Obtain：
L=A Δs X (1.5).
5. a kind of indoor infrared 3D locating measurement methods according to claim 4, it is characterised in that received according to receiver
Number to transmitting base station is different, there is following calculation method：
When observing the signal of 4 base stations, m=4 can be resolved by equation (1.5) and obtained：
Δ X=A-1·L (1.6)
Or have
<mrow>
<mover>
<mi>X</mi>
<mo>^</mo>
</mover>
<mo>=</mo>
<msub>
<mi>X</mi>
<mn>0</mn>
</msub>
<mo>+</mo>
<mi>&Delta;</mi>
<mi>X</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1.7</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, X0For detector original estimated coordinate；For the point coordinates of detector to be asked in three dimensions.
6. a kind of indoor infrared 3D locating measurement methods according to claim 4, it is characterised in that received according to receiver
Number to transmitting base station is different, there is following calculation method：
When the base station signal for observing more than 4, m>When 4, the valuation of undetermined parameter is obtained using Gauss-Markov estimation
For：
<mrow>
<mi>&Delta;</mi>
<mover>
<mi>X</mi>
<mo>^</mo>
</mover>
<mo>=</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>A</mi>
<mi>T</mi>
</msup>
<mi>A</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<msup>
<mi>A</mi>
<mi>T</mi>
</msup>
<mi>L</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1.8</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, ATFor the transposition of matrix A；For the point coordinates of detector to be asked in three dimensions.
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| CN107884745B (en) * | 2017-10-24 | 2021-08-10 | 深圳大学 | Atmospheric error processing method for UWB positioning |
| CN108037484A (en) * | 2017-11-30 | 2018-05-15 | 百色学院 | A kind of interior LED visible light localization method, system and device |
| CN110333478A (en) * | 2018-03-30 | 2019-10-15 | 华为技术有限公司 | A kind of angle of arrival, angle determination method of setting out and communication device |
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| CN109160452A (en) * | 2018-10-23 | 2019-01-08 | 西安中科光电精密工程有限公司 | Unmanned transhipment fork truck and air navigation aid based on laser positioning and stereoscopic vision |
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| CN109799481A (en) * | 2018-12-20 | 2019-05-24 | 广东云立方互动科技有限公司 | A kind of indoor orientation method and system based on infrared ray |
| CN109655818A (en) * | 2018-12-24 | 2019-04-19 | 苏州市建筑科学研究院集团股份有限公司 | A kind of radio frequency range unit and distance measuring method |
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