CN107526059A - A kind of base station relay type linear frequency modulation continuous wave indoor locating system and method - Google Patents

A kind of base station relay type linear frequency modulation continuous wave indoor locating system and method Download PDF

Info

Publication number
CN107526059A
CN107526059A CN201710717833.3A CN201710717833A CN107526059A CN 107526059 A CN107526059 A CN 107526059A CN 201710717833 A CN201710717833 A CN 201710717833A CN 107526059 A CN107526059 A CN 107526059A
Authority
CN
China
Prior art keywords
base station
frequency
signal
label
hair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710717833.3A
Other languages
Chinese (zh)
Other versions
CN107526059B (en
Inventor
陈祝明
王毅
邓术芬
徐聪
李维铭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei Sixianzhi New Technology Co ltd
Original Assignee
University of Electronic Science and Technology of China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Electronic Science and Technology of China filed Critical University of Electronic Science and Technology of China
Priority to CN201710717833.3A priority Critical patent/CN107526059B/en
Publication of CN107526059A publication Critical patent/CN107526059A/en
Application granted granted Critical
Publication of CN107526059B publication Critical patent/CN107526059B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • G01S5/0063—Transmission from base station to mobile station of measured values, i.e. measurement on base station and position calculation on mobile
    • 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
    • G01S5/0205—Details
    • G01S5/0221—Receivers
    • 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
    • G01S5/0205—Details
    • G01S5/0226—Transmitters
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of base station relay type linear frequency modulation continuous wave indoor locating system and method, including hair base station, label to be positioned and M receipts base station, M is natural number not less than 3, and M to receive base station not conllinear, receives base station and sends out and is connected transmission signal using wired mode between base station；Label to be positioned is used for receiving Base Transmitter LFMCW signals, LFMCW signals are received from hair base station and resolve position location；Base station is received to be used to receive the LFMCW signals of label transmitting to be positioned and be transmitted to hair base station after being handled；Hair base station is used for the signal respectively received base station to label forwarding to be positioned and forwarded, and provides reference signal to base station is received；Each base station of receiving forms a LFMCW signal difference frequency repeater with hair base station.The receipts base station of the present invention forms the difference frequency transponder of an analog signal with base station is sent out, and hair base station, receipts base station are synchronous with not needed between label to be positioned, and cost of implementation is low.

Description

A kind of base station relay type linear frequency modulation continuous wave indoor locating system and method
Technical field
The present invention relates to a kind of indoor navigation location technology, and in particular to a kind of base station relay type linear frequency modulation continuous wave room Interior positioning system and method.
Background technology
The difference that indoor locating system resolves according to location information is divided into two kinds of navigator fix and track and localization, and the former is general Location information is resolved using label, the latter is then typically resolved using base station or background controller.From the point of view of signal system, it is based on Ultra wide band (UWB) positioning of pulse signal system and the indoor locating system based on linear frequency modulation continuous signal (LFMCW) system High positioning precision can be obtained, therefore enjoys people to pay close attention to.Based on the indoor label that signal system is linear frequency modulation continuous wave Location technology, can be by the reception signal after mixing using the linear behavio(u)r of signal because frequency changes linearly over time Extract difference frequency term, you can obtain base station to the distance difference information of label.Finally hyperbola cross bearing principle is recycled to resolve Go out label position to be positioned, the function of same achievable high accuracy positioning, also there is the function of high precision speed-measuring in addition.
Preferable indoor positioning technologies should meet high accuracy, Large Copacity, wide scope, real-time, high stability, it is low into This, the features such as easily realizing simple in construction.Current existing Indoor Positioning System Using Ultra Wideband Radio frequently be arrival time difference algorithm (TDOA), but indoors under multipath effect, estimate that time of arrival (toa) error is larger using TDOA, affect positioning stablity Property；It is existing in addition to be got both in positioning precision and orientation distance based on the location technology of ultra wide band, and system is implemented as This height, therefore be difficult to meet requirement of the people for preferable indoor locating system.And the high accuracy based on linear LFMCW signals is indoor Location technology utilizes frequency modulation ranging method, has very strong multi-path resolved ability, and it is high-precision can to meet that telemeasurement and can ensures Degree positioning and the demand to test the speed, and cost needed for whole system realization is very low.But in the prior art, based on LFMCW signals Indoor locating system under system will meet real-time and high-precision requirement, it is necessary to assure precise synchronization between each base station, it is no Larger frequency error can then be caused because of the error of clock, so as to which high accuracy positioning can not be realized.
Prior art (201410416498.X《Indoor positioning device and method based on CW with frequency modulation》) typically use The mode of wire transmission synchronizing signal ensures the synchronization between base station between base station.But there is still a need for setting synchronous in the technical scheme Control module, in addition, in order to ensure the transmission bandwidth of synchronizing signal, this method needs expensive low loss RF electricity Cable, when system base distance between sites farther out when, it is implemented as originally very high.Even if system produces each base station using first local synchronization Required radiofrequency signal, then realized in a manner of direct transmitting radio frequency signal and be also required to expensive low loss RF electricity Cable, it can equally run into the problem of system cost is too high.
The content of the invention
The technical problems to be solved by the invention are that indoor locating system realizes that base station synchronization cost is too high in the prior art The problem of, and it is an object of the present invention to provide a kind of base station relay type linear frequency modulation continuous wave indoor locating system and method, in alignment system The base station used between need not be synchronous, reduce system cost.
The present invention is achieved through the following technical solutions：
A kind of base station relay type linear frequency modulation continuous wave indoor locating system, including hair base station, N number of label to be positioned and M Individual receipts base station, N are the natural number not less than 1, and M is the natural number not less than 3, and M receipts base station be not conllinear, the receipts base station and hair Using the connected transmission signal of wired mode between base station；The label to be positioned be used for receive Base Transmitter LFMCW signals, from hair base Stand and receive LFMCW signals and resolve position location；The LFMCW signals that the receipts base station is used to receive label transmitting to be positioned are gone forward side by side Hair base station is transmitted to after row processing；The hair base station is used for the signal respectively received base station to label forwarding to be positioned and forwarded, and Reference signal is provided to base station is received；Each base station of receiving forms a LFMCW signal difference frequency repeater with hair base station.In the application, Receive base station with hair base station using wired mode to be connected, the conveying length of each receipts base station to hair base station can be controlled consistent, so , can also be by measuring each receipts base station to the biography of hair base station to ensure that the transmission delay of each receipts base station to hair base station is the same Defeated delay, this transmission delay is finally then cut the difference on the frequency that the known quantity is brought as known quantity.And for same One label to be positioned, its corresponding multichannel receive the transmission signal of base station from hair base station to this section of transmitting procedure one of positioning label Sample, so what these multiple signals were just as in the transmission delay of this segment distance.The LFMCW signals of label transmitting to be positioned lead to Cross receipts base station, hair base station difference frequency is forwarded back to label to be positioned, therefore, the signal and the LFMCW letters of transmitting that label to be positioned receives Number frequency difference be mainly reflected in label to be positioned and receive base station between difference on the frequency, can be calculated and treated according to the difference on the frequency Position label and receive distance between base station, the position of label to be positioned can be calculated in conjunction with the position relationship of each receipts base station. Whole process need not synchronize to signal, realize inexpensive and high-precision indoor positioning.
As a further improvement on the present invention, it is connected between the receipts base station and hair base station using camera cable.Due to current TV network has substantially been laid and registered one's residence, and receives and carries out signal transmission using closed-circuit television cable between base station and hair base station, saves Wiring cost, at the same receive base station Jian Huoshou base stations and hair base station between need not it is synchronous, cost of implementation is low.
Further, the label to be positioned include label processing module, LFMCW generation modules, power splitter A, amplifier A1, Send out antenna A, receive antenna A, frequency mixer A, amplifier A2 and low pass filter A；The label processing module includes DSP module and A/ D-module；The DSP module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A are sequentially connected；The receipts antenna A, Frequency mixer A, amplifier A2, low pass filter A, A/D module, DSP module are sequentially connected；The DSP module is used to control LFMCW LFMCW signals caused by generation module and the signal sent according to A/D modules carry out signal transacting with resolving, and obtain label Positional information；The power splitter A is also connected with frequency mixer A, LFMCW signals caused by LFMCW generation modules is divided through power splitter A For two-way, frequency mixer A is sent to all the way and makees local oscillator, another way is after amplifier A1 amplifications through sending out antenna A transmittings.
Further, the label processing module also includes：Interface module is configured, for the system needed for label allocation positioning Parameter；Display apparatus module, the positional information of the label obtained for showing DSP module；The configuration interface module and display Module is connected with digital signal processor module.
Further, the receipts base station include receiving antenna B, frequency mixer B, low pass filter B, amplifier B, frequency synthesizer B, Bandpass filter B1 and bandpass filter B0, wherein receiving antenna B, frequency mixer B, low pass filter B, amplifier B, bandpass filter B1 is sequentially connected, and bandpass filter B0 output end is connected with frequency synthesizer B, and frequency synthesizer B output end is also with mixing Frequency device B is connected, and bandpass filter B1 output end connects hair base station with bandpass filter B0 input by wired mode； After receiving the LFMCW signals that base station receives label transmission, signal flow direction, which is followed successively by, receives antenna B, frequency mixer B, amplifier B, band logical Wave filter B1, LFMCW signals are changed to the signal flow direction hair base station matched sending out the cable network between base station and receipts base station；Institute State bandpass filter B0 to connect the reference signal of transceiver base station and be input to frequency synthesizer B, frequency synthesizer B is according to the ginseng of reception Examine the local oscillation signal that signal is produced needed for frequency mixer B and be sent to frequency mixer B.
Further, the hair base station includes synthesizer C, amplifier C, hair antenna C, oscillator C, frequency synthesizer C, band logical Wave filter C0 and M signal receiving unit, include bandpass filter C and frequency mixer C per road signal receiving unit；Per road signal Receiving unit receives to be received base station and sends signal extremely all the way, and the signal that all signal receiving units receive is successively through bandpass filtering Device C filtering, frequency mixer C frequency conversions is are sent into synthesizer C after the LFMCW signals of different carrier frequency, and synthesizer C is by all LFMCW signals Signal all the way is synthesized, is launched after amplifying by amplifier C by hair antenna C to the interior space；The oscillator C, frequency are comprehensive Clutch C, bandpass filter C0 are sequentially connected, bandpass filter C0 by wired mode connect receive base station, frequency synthesizer C also with Frequency mixer C in all signal receiving units is connected, and local oscillation signal is provided for frequency mixer C；Frequency synthesizer C simultaneously also produce with Send out base station and receive the reference signal of the cable network matching between base station, reference signal is after bandpass filter C0 by cable network Transmit to each receipts base station.
Further, the reference signal is single-frequency, and its frequency and the signal frequency range of each receipts base station output differ.
A kind of base station relay type linear frequency modulation continuous wave indoor orientation method, using base station relay type linear frequency modulation continuous wave Indoor locating system is positioned, the base station relay type linear frequency modulation continuous wave indoor locating system, including hair base station, N number of Label to be positioned, M receipts base station, N are the natural number not less than 1, and M is the natural number not less than 3, and M receipts base station be not conllinear, institute State to receive and be connected transmission signal using wired mode between base station and hair base station；The label to be positioned is used for receipts Base Transmitter LFMCW signals, receive LFMCW signals from hair base station and resolve position location；The receipts base station is used to receive label hair to be positioned The LFMCW signals penetrated simultaneously are transmitted to hair base station after being handled；The hair base station is used to respectively receive base station to label forwarding to be positioned The signal forwarded, and provide reference signal to base station is received；Each base station of receiving forms a LFMCW signal difference frequency with hair base station Transponder；
The label to be positioned includes label processing module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A, antenna A, frequency mixer A, amplifier A2 and low pass filter A are received；The label processing module includes DSP module and A/D modules； The DSP module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A are sequentially connected；The receipts antenna A, frequency mixer A, amplifier A2, low pass filter A, A/D module, DSP module are sequentially connected；The DSP module is used to control LFMCW to produce mould LFMCW signals caused by block and the signal sent according to A/D modules carry out signal transacting and resolved, and obtain the position letter of label Breath；The power splitter A is also connected with frequency mixer A, LFMCW signals caused by LFMCW generation modules is divided to through power splitter A for two Road, frequency mixer A is sent to all the way and makees local oscillator, another way is after amplifier A1 amplifications through sending out antenna A transmittings；
The receipts base station includes receiving antenna B, frequency mixer B, low pass filter B, amplifier B, frequency synthesizer B, band logical filter Ripple device B1 and bandpass filter B0, wherein receiving antenna B, frequency mixer B, low pass filter B, amplifier B, bandpass filter B1 successively Be connected, bandpass filter B0 output end is connected with frequency synthesizer B, frequency synthesizer B output end also with frequency mixer B phases Even, bandpass filter B1 output end connects hair base station with bandpass filter B0 input by wired mode；Receive base station After the LFMCW signals for receiving label transmission, signal flow direction, which is followed successively by, receives antenna B, frequency mixer B, amplifier B, bandpass filter B1, LFMCW signals are changed to the signal flow direction hair base station matched sending out the cable network between base station and receipts base station；The band logical Wave filter B0 connects the reference signal of transceiver base station and is input to frequency synthesizer B, and frequency synthesizer B is according to the reference signal of reception Produce the local oscillation signal needed for frequency mixer B and be sent to frequency mixer B；
The hair base station includes synthesizer C, amplifier C, hair antenna C, oscillator C, frequency synthesizer C, bandpass filter C0 and M signal receiving unit, include bandpass filter C and frequency mixer C per road signal receiving unit；Received per road signal single Member receives to be received base station and sends signal extremely all the way, and the signal that all signal receiving units receive is filtered through bandpass filter C successively To be sent into synthesizer C after the LFMCW signals of different carrier frequency, synthesizer C synthesizes all LFMCW signals for ripple, frequency mixer C frequency conversions Signal all the way, launched after amplifying by amplifier C by hair antenna C to the interior space；The oscillator C, frequency synthesizer C, Bandpass filter C0 is sequentially connected, bandpass filter C0 by wired mode connect receive base station, frequency synthesizer C also with all letters Frequency mixer C in number receiving unit is connected, and local oscillation signal is provided for frequency mixer C；Frequency synthesizer C is also produced and hair base station simultaneously Receive base station between cable network matching reference signal, reference signal after bandpass filter C0 by cable-network transmission extremely It is each to receive base station；The reference signal is single-frequency, and its frequency and the signal frequency range of each receipts base station output differ；
It the described method comprises the following steps：
S1, label to be positioned send LFMCW signals：Label to be positioned initiates positioning command, triggering LFMCW generation module productions Raw LFMCW signals, LFMCW signals are allocated through power splitter A, are launched all the way after amplifier A amplifications by hair antenna A, another Road, which exports, gives frequency mixer A；
S2, receive base station forward signal：The LFMCW signals that base station receives label to be positioned and launched by receiving antenna B are received, are received The frequency of LFMCW signals and frequency synthesizer B output be fLBLocal oscillation signal mixing, pass through wired network after the signal after mixing Network is sent to hair base station；
S3, hair base station forward signal：Hair base station receives the M M roads signal that forwards of receipts base station, and by the M roads signal Different frequency mixer C is inputted after being filtered respectively to be mixed, obtains M roads radiofrequency signal, and ensures that all radiofrequency signals are equal Receive antenna A frequency acceptance band in, finally by M roads signal synthesis all the way signal and amplify after through send out antenna C be transmitted into Interior Space Between；
S4, label to be positioned receive and the LFMCW signals of processing forward：Label to be positioned receives antenna A and connects transceiver base station turn The M roads radiofrequency signal of hair, and the LFMCW signals that the M roads radiofrequency signal is exported with power splitter A are mixed, and are obtained difference frequency and are gone Label intermediate-freuqncy signal after tiltedly, after the low-pass filtered device A filtering of label intermediate-freuqncy signal, it is sent into label processing module；
S5, label processing module to be positioned resolve position：Label processing module is by A/D modules by the label intermediate frequency of input Signal is converted to digital medium-frequency signal, is then fed into DSP module；DSP module calculate label to be positioned to it is each receipts base station away from Deviation；And the position that each receipts base station is installed is combined, the position of label to be positioned is calculated using hyperbola cross bearing principle.
Further, in step S1, the modulation period that LFMCW generation modules produce LFMCW signals is Tm, TmMeet △ tmax< Tm, △ tmaxFor the maximum transmitted time delay of signal in once complete repeating process, the complete repeating process refers to from mark to be positioned The hair antenna A of label sends LFMCW signals and plays to the receipts antenna A of label to be positioned the process for receiving radiofrequency signal.
Further, step S5 specifically includes following steps：
The label intermediate-freuqncy signal of input is converted to digital medium-frequency signal by S51, label processing module by A/D modules, so After be sent into DSP module；
Digital medium-frequency signal is carried out DFT by S52, DSP module, obtains the frequency spectrum of digital medium-frequency signal, is led to The spectrum peak that thresholding judges to obtain M roads positioning signal in label intermediate-freuqncy signal is crossed, is then composed using frequency spectrum refinement technology Frequency values f corresponding to peak valueIFAi, wherein i=1,2 ..., M；
S53, by frequency values fIFAiThe difference frequency value that the system of subtracting is configured, then subtracts each other two-by-two, obtains C (2, M) individual frequency Difference；
S54, using difference on the frequency caused by each receipts base station to the transmission delay differences between hair base station to the frequency that is obtained in step S53 Rate difference carries out corresponding compensation, obtains the difference on the frequency △ f caused by label to be positioned to the delay of different receipts base stationsij, wherein i=1, 2,…,M；J=1,2 ..., M；Utilize formula △ Rij=△ fijTmC/B can calculate label to the range difference of each receipts base station, wherein C is the light velocity；
S55, the position installed according to each receipts base station, label to be positioned is calculated using hyperbola cross bearing principle Position.
The present invention compared with prior art, has the following advantages and advantages：
1st, a kind of receipts base station of base station relay type linear frequency modulation continuous wave indoor locating system of the present invention and hair base station are formed The difference frequency transponder of one analog signal, hair base station, receipts base station are synchronous with not needed between label to be positioned；
2nd, adopted between a kind of receipts base station of base station relay type linear frequency modulation continuous wave indoor locating system of the present invention and hair base station Signal transmission is carried out with closed-circuit television cable, receiving need not be synchronous between base station Jian Huoshou base stations and hair base station, and cost of implementation is low, System can also obtain good receive-transmit isolation using its distance spatially.
3rd, a kind of base station relay type linear frequency modulation continuous wave indoor locating system of the present invention, for multiple labels to be positioned When, different initial frequencies can be used between multiple labels to be positioned, can be worked simultaneously each other, and can is mutually distinguished.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, forms one of the application Point, do not form the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is the indoor locating system schematic diagram in a kind of embodiment of the present invention；
Fig. 2 is the label construction figure to be positioned in a kind of embodiment of the present invention；
Fig. 3 is the receipts base station structure diagram in a kind of embodiment of the present invention；
Fig. 4 is the hair base station structure diagram in a kind of embodiment of the present invention；
Fig. 5 is the indoor locating system workflow diagram in a kind of embodiment of the present invention.
Embodiment
In the prior art, indoor locating system realizes that base station synchronization cost is too high, in addition, in order to obtain high indoor positioning Precision, existing indoor locating system both need the stationary problem for solving between base station, it is also necessary to solve synchronous between label and base station Problem.A kind of base station relay type linear frequency modulation continuous wave indoor locating system of the present invention positions applied to indoor navigation, can be with low Cost realizes indoor high-precision navigator fix.
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make For limitation of the invention.
【Embodiment 1】
As shown in figure 1, a kind of base station relay type linear frequency modulation continuous wave indoor locating system of the present invention, including it is N number of undetermined Position is known in position label, hair base station and M two dimensional surface and at least three not conllinear receipts base stations, N are the nature not less than 1 Number, M are the natural number not less than 3, and M receipts base station be not conllinear, and circuit structure is identical；Used between the receipts base station and hair base station Wired mode is connected transmission signal.
The label to be positioned is used for receipts Base Transmitter LFMCW signals, LFMCW signals are received from hair base station and resolving is fixed Position position；The base station of receiving is used to receive the LFMCW signals of label transmitting to be positioned and is transmitted to hair base station after being handled；Institute The signal that hair base station is used to respectively receive base station to label forwarding to be positioned and forward is stated, and reference signal is provided to base station is received；Often Individual receipts base station forms a LFMCW signal difference frequency repeater with hair base station.
The structure of label to be positioned is as shown in Fig. 2 including label processing module, LFMCW generation modules, power splitter A, amplification Device A1, hair antenna A, receive antenna A, frequency mixer A, amplifier A2 and low pass filter A；The label processing module includes DSP moulds Block (digital signal processor module), A/D modules (analog-digital converter module), configuration interface module and display apparatus module；Wherein： A/D modules, configuration interface module and display apparatus module are connected with DSP module respectively, and configuration interface module is the configuration end in Fig. 2 Mouthful, for the systematic parameter needed for label allocation positioning, display apparatus module is used for the position letter for showing the label that DSP module obtains Breath.The DSP module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A are sequentially connected, and form label to be positioned Emitting portion；The receipts antenna A, frequency mixer A, amplifier A2, low pass filter A, A/D module, DSP module are sequentially connected, Form the receiving portion of label to be positioned；DSP module is used to control LFMCW signals caused by LFMCW generation modules, and according to A/ The signal that D-module is sent extremely carries out signal transacting and resolved, and obtains the positional information of label, is sent into display apparatus module and shows；Institute State power splitter A also with frequency mixer A to be connected, it is two-way to make LFMCW signals caused by LFMCW generation modules through power splitter A divide, all the way It is sent to frequency mixer A and makees local oscillator, another way is after amplifier A1 amplifications through sending out antenna A transmittings；Transmitting interrogation signals stream to be positioned To being followed successively by label processing module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A；The label of label to be positioned When processing module initiates position fixing process, triggering LFMCW generation modules produce LFMCW signals, and LFMCW signals are for A points through power splitter Two-way, all the way the frequency mixer A to receiving portion make local oscillator, another way is after amplifier A1 amplifications through sending out antenna A transmittings；Receive letter Number flow direction, which is followed successively by, receives antenna A, frequency mixer A, amplifier A2, low pass filter A, label processing module.Through sending out base station forwarding LFMCW signals are after receiving antenna A and receiving, and after frequency mixer A down coversions, amplify through amplifier A2, then low-pass filtered device A filters It is sent into after ripple in label processing module, signal is converted to data signal through A/D and carries out letter through DSP module by label processing module Number processing and resolve, obtain the positional information of label, be sent into display apparatus module and show.
Receive base station internal structure as shown in figure 3, and each receive base station there is identical internal structure.The receipts base Stand including receiving antenna B, frequency mixer B, low pass filter B, amplifier B, frequency synthesizer B, bandpass filter B1 and bandpass filtering Device B0, it is sequentially connected wherein receiving antenna B, frequency mixer B, low pass filter B, amplifier B, bandpass filter B1, bandpass filter B0 output end is connected with frequency synthesizer B, and frequency synthesizer B output end is also connected with frequency mixer B, bandpass filter B1 Output end and bandpass filter B0 input hair base station is connected by wired mode；Receive base station and receive label transmission After LFMCW signals, signal flow direction, which is followed successively by, receives antenna B, frequency mixer B, amplifier B, bandpass filter B1, and LFMCW signals are turned The signal flow direction hair base station that the cable network changed between hair base station and receipts base station matches；The bandpass filter B0 is from wired network The reference signal of transceiver base station is connect in network and frequency synthesizer B is input to after being filtered to reference signal, frequency synthesizer B roots The local oscillation signal produced according to the reference signal of reception needed for frequency mixer B is sent to frequency mixer B.
As shown in figure 4, the hair base station include synthesizer C, amplifier C, hair antenna C, oscillator C, frequency synthesizer C, Bandpass filter C0 and M signal receiving unit, include bandpass filter C and frequency mixer C per road signal receiving unit；This reality Apply in example, such as Fig. 3, the bandpass filter C and frequency mixer C of first via signal receiving unit number respectively be bandpass filter C1 and Frequency mixer C1, it is bandpass filter C2 and mixing that the bandpass filter C and frequency mixer C of second road signal receiving unit are numbered respectively Device C2, by that analogy, the bandpass filter C and frequency mixer C of m-th signal receiving unit number respectively be bandpass filter CM and Frequency mixer CM, so, the hair base station include bandpass filter C0, bandpass filter C1 to bandpass filter CM, frequency mixer C1 To frequency mixer CM, synthesizer C, amplifier C, hair antenna C and oscillator C, frequency synthesizer C and bandpass filter C0.
Received per road signal receiving unit and receive base station all the way and send signal extremely, the signal that all signal receiving units receive It is sent into synthesizer C, synthesizer C after bandpass filter C filtering, frequency mixer C frequency conversions is the LFMCW signals of different carrier frequency successively All LFMCW signals are synthesized into signal all the way, launched after amplifying by amplifier C by hair antenna C to the interior space；
The oscillator C, frequency synthesizer C, bandpass filter C0 are sequentially connected, and bandpass filter C0 passes through wired mode Base station is received in connection, and frequency synthesizer C is also connected with the frequency mixer C (i.e. frequency mixer C1-CM) in all signal receiving units, is mixed Frequency device C1-CM provides local oscillation signal.
Frequency synthesizer C also produces the reference signal that the cable network between hair base station and receipts base station matches, ginseng simultaneously Signal is examined after bandpass filter C0 by cable-network transmission to each receipts base station.Reference signal is single-frequency, its frequency and each receipts base The signal frequency range exported of standing differs, using the reference frequency as frequency synthesizer B.
In the present embodiment, based on the indoor orientation method of linear frequency modulation continuous signal, receive base station for M and be total to a hair base station With one signal forwarding module of composition, difference frequency forwarding is carried out to analog signal, receives and is connected between base station and hair base station by cable network Connect, hair base station, receipts base station are synchronous with not needed between label to be positioned；Base station is received only to be responsible for receiving the letter that label to be positioned is sent Number, hair base station is only responsible for sending the signal that each road receipts base station transmits, and can so be improved using distance spatially The receive-transmit isolation of signal forwarding module；The bandpass filter C0 of frequency synthesizer C output ends in the hair base station with it is each defeated Enter the bandpass filter C1 to bandpass filter CM at end, and the described bandpass filtering for receiving frequency synthesizer input in base station Effects of the device B0 with exporting bandpass filter B1 is isolating for receiving and transmitting signal, to avoid reference signal or LFMCW signals from entering Other side's channel is formed and interfered.
In practical application, label to be positioned can set more than one, and N is more than 1, difference is used between multiple labels to be positioned Initial frequency i.e. can be achieved can work simultaneously each other, and can is mutually distinguished.
Indoor positioning is carried out using a kind of base station relay type linear frequency modulation continuous wave indoor locating system in the present embodiment Method comprise the following steps：
S1, label to be positioned send LFMCW signals：Label to be positioned initiates positioning command, triggering LFMCW generation module productions Raw LFMCW signals, LFMCW signals are allocated through power splitter A, are launched all the way after amplifier A amplifications by hair antenna A, another Road, which exports, gives frequency mixer A；In this step, the modulation period that LFMCW generation modules produce LFMCW signals is Tm, TmMeet △ tmax< Tm, △ tmaxFor the maximum transmitted time delay of signal in once complete repeating process, the complete repeating process refers to from mark to be positioned The hair antenna A of label sends LFMCW signals and plays to the receipts antenna A of label to be positioned the process for receiving radiofrequency signal；
S2, receive base station forward signal：The LFMCW signals that base station receives label to be positioned and launched by receiving antenna B are received, are received The frequency of LFMCW signals and frequency synthesizer B output be fLBLocal oscillation signal mixing, pass through wired network after the signal after mixing Network is sent to hair base station；
S3, hair base station forward signal：Hair base station receives the M M roads signal that forwards of receipts base station, and by the M roads signal Different frequency mixer C is inputted after being filtered respectively to be mixed, obtains M roads radiofrequency signal, and ensures that all radiofrequency signals are equal Receive antenna A frequency acceptance band in, finally by M roads signal synthesis all the way signal and amplify after through send out antenna C be transmitted into Interior Space Between；
S4, label to be positioned receive and the LFMCW signals of processing forward：Label to be positioned receives antenna A and connects transceiver base station turn The M roads radiofrequency signal of hair, and the LFMCW signals that the M roads radiofrequency signal is exported with power splitter A are mixed, and are obtained difference frequency and are gone Label intermediate-freuqncy signal after tiltedly, after the low-pass filtered device A filtering of label intermediate-freuqncy signal, it is sent into label processing module；
S5, label processing module to be positioned resolve position：Label processing module is by A/D modules by the label intermediate frequency of input Signal is converted to digital medium-frequency signal, is then fed into DSP module；DSP module calculate label to be positioned to it is each receipts base station away from Deviation；And the position that each receipts base station is installed is combined, the position of label to be positioned is calculated using hyperbola cross bearing principle, By the position display of the label to be positioned calculated on display panel module.Wherein, S5 specifically includes following steps：
The label intermediate-freuqncy signal of input is converted to digital medium-frequency signal by S51, label processing module by A/D modules, so After be sent into DSP module；
Digital medium-frequency signal is carried out DFT by S52, DSP module, obtains the frequency spectrum of digital medium-frequency signal, is led to The spectrum peak that thresholding judges to obtain M roads positioning signal in label intermediate-freuqncy signal is crossed, is then composed using frequency spectrum refinement technology Frequency values f corresponding to peak valueIFAi, wherein i=1,2 ..., M；
S53, by frequency values fIFAiThe difference frequency value that the system of subtracting is configured, then subtracts each other two-by-two, obtains C (2, M) individual frequency Difference；
S54, using difference on the frequency caused by each receipts base station to the transmission delay differences between hair base station to the frequency that is obtained in step S53 Rate difference carries out corresponding compensation, obtains the difference on the frequency △ f caused by label to be positioned to the delay of different receipts base stationsij, wherein i, j= 1,2 ..., M, utilize formula △ Rij=△ fijTmC/B can calculate label to the range difference of each receipts base station, and wherein c is the light velocity；
S55, the position installed according to each receipts base station, label to be positioned is calculated using hyperbola cross bearing principle Position.
In the present embodiment, each base station of receiving forms a LFMCW signal difference frequency repeater with hair base station.Receive base station and hair base Stand and be connected using wired mode, the conveying length of each receipts base station to hair base station can be controlled consistent, so ensure each receipts The transmission delay of base station to hair base station is the same；Can also by measure it is each receipts base station to send out base station transmission delay, then This transmission delay as known quantity, the difference on the frequency that the known quantity is brought finally is cut.And for same to be positioned Label, its corresponding multichannel receive the transmission signal of base station, and this section of transmitting procedure from hair base station to positioning label is the same, so this What a little multiple signals were just as in the transmission delay of this segment distance.The LFMCW signals of label to be positioned transmitting by receive base station, Hair base station difference frequency is forwarded back to label to be positioned, therefore, the signal and the difference on the frequency of the LFMCW signals of transmitting that label to be positioned receives Be not mainly reflected in label to be positioned and receive base station between difference on the frequency, according to the difference on the frequency can calculate label to be positioned with Distance between receipts base station, the position of label to be positioned can be calculated in conjunction with the position relationship of each receipts base station.Whole process is not Need to synchronize signal, realize inexpensive and high-precision indoor positioning.
【Embodiment 2】
The connection network received base station and sent out between base station is carried out on the basis of embodiment 1, in the present embodiment further Improve, be connected between the receipts base station and hair base station using camera cable.Accordingly：
After receiving the signal that base station receives label transmission, signal flow direction, which is followed successively by, receives antenna B, frequency mixer B, amplifier B, band Bandpass filter B1, LFMCW signals are converted to and flow to hair base station through camera cable after the intermediate-freuqncy signal of TV band；Frequency mixer B Required local oscillation signal by send out base station reference signal (also in TV band, but with by receive base station to send out base station LFMCW signals Have certain frequency interval) also transmitted through above-mentioned camera cable, then it is input to frequency synthesizer B after bandpass filter B0 filtering Produce.
In hair base station, when hair base station receives the intermediate-freuqncy signal from the TV band for receiving base station, signal flow direction is followed successively by： Come M of M route TV cable transmissions receive base station signal after bandpass filter C1 is filtered respectively to bandpass filter CM, through mixing Frequency device C1 to frequency mixer CM frequency conversions for the LFMCW signals of different carrier frequency after, then signal all the way synthesized by synthesizer C, by putting Launched after big device C amplifications by hair antenna C to the interior space, the local oscillation signal needed for frequency mixer C1 to bandpass filter CM is by shaking Device C is swung to produce through frequency synthesizer C；Frequency synthesizer C also produces the reference signal of TV band through bandpass filter C0 simultaneously Transmitted afterwards by camera cable to each receipts base station.
In the present embodiment, receive and signal transmission is carried out using the closed-circuit television cable of low cost between base station and hair base station, receive base Need not be synchronous between standing or receipts base station and hair base station, and cost of implementation is low, system can also be obtained using its distance spatially Good receive-transmit isolation.
Indoor positioning is carried out using a kind of base station relay type linear frequency modulation continuous wave indoor locating system in the present embodiment Method as shown in figure 5, comprising the following steps：
S1, label to be positioned send LFMCW signals：Label to be positioned initiates positioning command, triggering LFMCW generation module productions Raw continuous (LFMCW) signal of linear frequency modulation, LFMCW signals are allocated through power splitter A, all the way by sending out after amplifier A amplifications Antenna A launches, and another way, which exports, gives frequency mixer A；The carrier wave initial frequency of the LFMCW signals of antenna A transmittings is f0, modulation bandwidth For B, modulation period Tm；For there is the system of multiple labels to be positioned, for different labels to be positioned, identical is configured to Modulation bandwidth and modulation period, but different carrier wave initial frequencies is configured to, both can independently initiate to position between label, also It can mutually distinguish, not interfere with each other.
S2, receive base station forward signal：The LFMCW signals that base station receives label to be positioned and launched by receiving antenna B are received, are received The frequency of LFMCW signals and frequency synthesizer B output be fLBLocal oscillation signal mixing, obtain initial frequency fIFB=| f0-fLB| Or fIFB=f0+fLBAnd frequency range is in the intermediate-freuqncy signal of TV band, the signal after mixing is sent to hair base station through TV cable.
S3, hair base station forward signal：Hair base station receives the M M roads signal that forwards of receipts base station, and by the M roads signal After being filtered respectively by bandpass filter C1-CM, input mixer C1-CM is mixed respectively, is forwarded wherein receiving base station 1 The signal to come over is filtered by bandpass filter C1 and then input mixer C1, receives the signal that base station 2 forwards and passes through Bandpass filter C2 is filtered and then input mixer C2, by that analogy, receives the signal that base station M is forwarded and is filtered by band logical Ripple device CM is filtered and then input mixer CM；The frequency synthesizer C in base station is sent out in the presence of oscillator C, exports M roads Local oscillation signal gives frequency mixer C1-CM, and its frequency is respectively fLC1、fLC2、…、fLCM；Frequency is respectively fLC1Local oscillation signal output Frequency mixer C1 is given, frequency is respectively fLC2Local oscillation signal export and give frequency mixer C2, by that analogy.M roads local oscillation signal is at place In frequency mixer C respectively with receive base station 1, receive base station 2 ..., receive the signals that transmit of base station M and carry out frequency conversion, obtain M roads radio frequency letter Number, the initial frequency of M roads radiofrequency signal is respectively fRF1、fRF2、…、fRFM, wherein fRF1=| f0-fLB|+fLC1Or fRF1=| f0+ fLB-fLC1|, fRF2=| f0-fLB|+fLC2Or fRF2=| f0+fLB-fLC2| ..., fRFM=| f0+fLB|-fLCMOr fRFM=| f0+fLB- fLCM|, and ensure all radiofrequency signals in the frequency acceptance band for receiving antenna A, M roads signal is synthesized one finally by synthesizer C Road signal and by amplifier C amplify after through send out antenna C be transmitted into the interior space.It is effectively complete in each modulation period to ensure Into a range difference measurement, it is desirable to once in complete repeating process signal maximum transmitted time delay △ tmax<Tm, described complete turn Hair process refers to that the receipts antenna A to label to be positioned from the hair antenna A of label to be positioned sends LFMCW signals receives radio frequency letter Number process；
S4, label to be positioned receive and the LFMCW signals of processing forward：Label to be positioned receives antenna A and connects transceiver base station turn The M roads radiofrequency signal of hair, and the M roads radiofrequency signal and the local LFMCW signals that power splitter A is exported are mixed, obtain difference Frequently the label intermediate-freuqncy signal after going tiltedly.The frequency of M roads positioning signal is respectively f in label intermediate-freuqncy signalIFA1=| fLB-fLC1|+ fτ1、fIFA2=| fLB-fLC2|+fτ2、…、fIFAM=| fLB-fLCM|+fτM；In each road IF-FRE, previous item (| fLB-fLCj|, its Middle j=1,2 ..., M) be system configuration difference frequency term so that each road positioning signal is in different frequency ranges, to distinguish Signal paths traversed, latter (fτj, wherein j=1,2 ..., M) it is that (including label hair antenna A is extremely by signal transmission delay Base station is received to receive antenna B space propagation delay, receive sky of the base station to the cable transmission delay and hair base station for sending out base station to label Between transmission delay) difference on the frequency that is formed, wherein contain the information of the distance needed for system positioning, in order to position system is maximum In the range of ensure that two frequency sums on each road are in completely not overlapping frequency range, it is desirable to the difference frequency term of system configuration it Difference have to be larger than the maximum in latter, i.e., | fLCi+1-fLCi|>max(fτi), wherein i=1,2 ..., M-1.Label intermediate frequency is believed After number low-pass filtered device A filtering, label processing module is sent into；
S5, label processing module to be positioned resolve position：Label processing module is by A/D modules by the label intermediate frequency of input Signal is converted to digital medium-frequency signal, is then fed into DSP module；DSP module calculate label to be positioned to it is each receipts base station away from Deviation；And the position that each receipts base station is installed is combined, the position of label to be positioned is calculated using hyperbola cross bearing principle, By the position display of the label to be positioned calculated on display panel module.Specifically, the processing procedure of DSP module is：By number Word intermediate-freuqncy signal carries out DFT, obtains the frequency spectrum of digital medium-frequency signal, then judges to obtain label by thresholding The spectrum peak of M roads positioning signal in intermediate-freuqncy signal, then obtains the frequency values corresponding to spectrum peak using frequency spectrum refinement technology fIFAi, wherein i=1,2 ..., M.Frequency values fIFAiThe difference frequency value that the system of subtracting is configured, then subtracts each other two-by-two, obtains C (2, M) (number of combinations that two are taken out in i.e. M receipts base station) individual difference on the frequency.Because hair base station to the transmission delay of label is identical, therefore After difference on the frequency compensation caused by each receipts base station to the transmission delay differences between hair base station, obtain as label to be positioned to different receipts Difference on the frequency △ f caused by the delay of base stationij, wherein i, j=1,2 ..., utilize formula △ R at Mij=△ fijTmC/B can be calculated For outgoing label to the range difference of each receipts base station, wherein c is the light velocity；On this basis, the position installed according to each receipts base station, is utilized Hyperbola cross bearing principle is with regard to that can calculate the position of label to be positioned.
【Embodiment 3】
On the basis of embodiment 2, further limited in the present embodiment receiving base station number, for a positioning area Domain, it is contemplated that the redundancy of system and the signal blocks of label, receive base station and be generally 4, i.e. M=4, then, the hair base station includes Synthesizer C, amplifier C, hair antenna C, oscillator C, frequency synthesizer C, bandpass filter C0 and 4 signal receiving units, often Road signal receiving unit receives to be received base station and sends signal extremely all the way；First via signal receiving unit is by bandpass filter C1 and mixes Frequency device C1 is formed, and second road signal receiving unit is made up of bandpass filter C2 and frequency mixer C2；3rd road signal receiving unit It is made up of bandpass filter C3 and frequency mixer C3；4th road signal receiving unit is made up of bandpass filter C4 and frequency mixer C4； Frequency synthesizer C is also connected with frequency mixer C1, C2, C3 and C4, and local oscillation signal is provided for frequency mixer C1, C2, C3 and C4.
In the present embodiment, to bring specific frequency into exemplified by covering the indoor locating system of 100 meters × 100 meters square-shaped planars The localization method of value further explanation the application, base station relay type linear frequency modulation continuous wave indoor locating system are undetermined including 1 Position label, 4 receipts base stations and 1 hair base station, 4 are received the corner that base stations are in square, are sent out base station for 1 and are in square The heart, specific embodiment are as follows：
S1：Label to be positioned initiates positioning command, and it is f that triggering LFMCW generation modules, which produce carrier wave initial frequency,0= 2.4GHz, modulation bandwidth B=100MHz, modulation period Tm=10ms LFMCW signals are simultaneously launched.
S2：After receiving the LFMCW signals that base station receives label transmitting to be positioned, the frequency with frequency synthesizer B outputs is fLB=3.0GHz local oscillation signal mixing, obtains initial frequency fIFB=600MHz TV band intermediate-freuqncy signal, through TV cable Hair base station is sent to, and the time delay that four receipts base stations are transferred to hair base station is all equal.
S3：The frequency synthesizer C in base station is sent out in the presence of oscillator C, exports 4 road local oscillation signals, its frequency difference For fLC1=3.001GHz, fLC2=3.002GHz, fLC3=3.003GHz, fLC4=3.004GHz, base station transmission is received with 4 tunnels respectively The signal to come over carries out frequency conversion, and it is f to obtain 4 tunnel initial frequenciesRF1=2.401GHz, fRF2=2.402GHz, fRF3= 2.403GHz、fRF4=2.404GHz radiofrequency signal, finally by 4 road signals synthesis all the way signal and after amplifying through sending out antenna C hairs It is mapped to the interior space.The reference signal frequency that hair base station is transferred to receipts base station is configured to 100MHz.
S4：After label to be positioned receives the 4 road LFMCW radiofrequency signals that antenna A connects transceiver base station forwarding, exported with power splitter A Local LFMCW signals be mixed, obtain the label intermediate-freuqncy signal after difference frequency is gone tiltedly, positioning letter in 4 tunnels in label intermediate-freuqncy signal Number frequency be respectively fIFA1=1MHz+fτ1、fIFA2==2MHz+fτ2、fIFA3==3MHz+fτ3、fIFA4==4MHz+fτ4； In each road IF-FRE, previous item is the difference frequency term of system configuration, and latter is formed by signal transmission delay, including label Antenna A is sent out to antenna B space propagation delay is received in receipts base station, the cable transmission of receipts base station to hair base station postpones and hair base station is arrived The space propagation delay of label.In the present embodiment, the difference of the difference frequency term of system configuration is 1MHz, closed-circuit television cable transmission speed By 2 × 108M/s is calculated, then the maximum of latter is 9.43kHz, meets configuration requirement.Label intermediate-freuqncy signal is low-pass filtered After device A is by cut-off frequecy of passband 4MHz, stopband initial frequency 6MHz filtering, label processing module is sent into.
S5：Label processing module presses the label intermediate-freuqncy signal of input 10MHz sample rate through A/D converter module first Digital medium-frequency signal is converted to, is then fed into DSP module；Digital medium-frequency signal is carried out DFT by DSP module, is obtained To the frequency spectrum of digital medium-frequency signal, then judge to obtain the spectrum peak of 4 tunnel positioning signals in label intermediate-freuqncy signal by thresholding, Then the frequency values f corresponding to spectrum peak is obtained using frequency spectrum refinement technologyIFA1、fIFA2、fIFA3、fIFA4。
S6：Frequency values fIFA1、fIFA2、fIFA3、fIFA4Difference frequency value 1MHz, 2MHz that the system of being individually subtracted is configured, 3MHz, 4MHz, then subtract each other two-by-two, obtain 6 difference on the frequencies.Because the transmission delay of each receipts base station to hair base station is identical, hair base station to mark The transmission delay of label is identical, therefore the difference on the frequency △ f caused by obtained as label undetermined to the delays of different receipts base stationsij, Wherein i, j=1,2,3,4；Utilize formula △ Rij=△ fijTmC/B can calculate label to the range difference of each receipts base station, in this base On plinth, according to each position for being installed of receipts base station, using hyperbola cross bearing principle with regard to the position of label to be positioned can be calculated Put, and be shown on display panel module.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include Within protection scope of the present invention.

Claims (10)

1. a kind of base station relay type linear frequency modulation continuous wave indoor locating system, including N number of label to be positioned and M receipts base station, N For the natural number not less than 1, M is the natural number not less than 3, and M receipts base station be not conllinear, is used between the receipts base station and hair base station Wired mode is connected transmission signal；Characterized in that, also include hair base station；The label to be positioned is used for receipts Base Transmitter LFMCW signals, receive LFMCW signals from hair base station and resolve position location；The receipts base station is used to receive label hair to be positioned The LFMCW signals penetrated simultaneously are transmitted to hair base station after being handled；The hair base station is used to respectively receive base station to label forwarding to be positioned The signal forwarded, and provide reference signal to base station is received；Each base station of receiving forms a LFMCW signal difference frequency with hair base station Transponder.
A kind of 2. base station relay type linear frequency modulation continuous wave indoor locating system according to claim 1, it is characterised in that It is connected between the receipts base station and hair base station using camera cable.
A kind of 3. base station relay type linear frequency modulation continuous wave indoor locating system according to claim 1, it is characterised in that The label to be positioned includes label processing module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A, receipts antenna A, frequency mixer A, amplifier A2 and low pass filter A；The label processing module includes DSP module and A/D modules；The DSP Module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A are sequentially connected；The receipts antenna A, frequency mixer A, amplification Device A2, low pass filter A, A/D module, DSP module are sequentially connected；The DSP module is used to control LFMCW generation modules to produce LFMCW signals and according to A/D modules send signal carry out signal transacting with resolve, obtain the positional information of label；Institute State power splitter A also with frequency mixer A to be connected, it is two-way to make LFMCW signals caused by LFMCW generation modules through power splitter A divide, all the way It is sent to frequency mixer A and makees local oscillator, another way is after amplifier A1 amplifications through sending out antenna A transmittings.
A kind of 4. base station relay type linear frequency modulation continuous wave indoor locating system according to claim 3, it is characterised in that The label processing module also includes：
Interface module is configured, for the systematic parameter needed for label allocation positioning；
Display apparatus module, the positional information of the label obtained for showing DSP module；
The configuration interface module and display apparatus module are connected with digital signal processor module.
5. a kind of base station relay type linear frequency modulation continuous wave indoor locating system according to any one of claims 1 to 4, it is special Sign is that the receipts base station includes receiving antenna B, frequency mixer B, low pass filter B, amplifier B, frequency synthesizer B, bandpass filtering Device B1 and bandpass filter B0, wherein receiving antenna B, frequency mixer B, low pass filter B, amplifier B, bandpass filter B1 phase successively Even, bandpass filter B0 output end is connected with frequency synthesizer B, frequency synthesizer B output end also with frequency mixer B phases Even, bandpass filter B1 output end connects hair base station with bandpass filter B0 input by wired mode；Receive base station After the LFMCW signals for receiving label transmission, signal flow direction, which is followed successively by, receives antenna B, frequency mixer B, amplifier B, bandpass filter B1, LFMCW signals are changed to the signal flow direction hair base station matched sending out the cable network between base station and receipts base station；The band logical Wave filter B0 connects the reference signal of transceiver base station and is input to frequency synthesizer B, and frequency synthesizer B is according to the reference signal of reception Produce the local oscillation signal needed for frequency mixer B and be sent to frequency mixer B.
6. a kind of base station relay type linear frequency modulation continuous wave indoor locating system according to any one of claims 1 to 4, it is special Sign is that the hair base station includes synthesizer C, amplifier C, hair antenna C, oscillator C, frequency synthesizer C, bandpass filter C0 With M signal receiving unit, include bandpass filter C and frequency mixer C per road signal receiving unit；
Received per road signal receiving unit and receive base station all the way and send signal extremely, the signal that all signal receiving units receive according to Secondary to be sent into synthesizer C after bandpass filter C filtering, frequency mixer C frequency conversions is the LFMCW signals of different carrier frequency, synthesizer C is by institute There are LFMCW signals to synthesize signal all the way, launched after amplifying by amplifier C by hair antenna C to the interior space；
The oscillator C, frequency synthesizer C, bandpass filter C0 are sequentially connected, and bandpass filter C0 is connected by wired mode Base station is received, frequency synthesizer C is also connected with the frequency mixer C in all signal receiving units, and local oscillation signal is provided for frequency mixer C；
Frequency synthesizer C also produces the reference signal that the cable network between hair base station and receipts base station matches simultaneously, with reference to letter By cable-network transmission to each receipts base station number after bandpass filter C0.
7. a kind of base station relay type linear frequency modulation continuous wave indoor locating system according to any one of claims 1 to 4, it is special Sign is that the reference signal is single-frequency, and its frequency and the signal frequency range of each receipts base station output differ.
8. a kind of base station relay type linear frequency modulation continuous wave indoor orientation method, it is characterised in that linear using base station relay type CW with frequency modulation indoor locating system is positioned, the base station relay type linear frequency modulation continuous wave indoor locating system, including Send out base station, N number of label to be positioned, M receipts base station, N is the natural number not less than 1, and M is the natural number not less than 3, M receipts base Stand not conllinear, be connected transmission signal using wired mode between the receipts base station and hair base station；The label to be positioned is used for receipts Base Transmitter LFMCW signals, receive LFMCW signals from hair base station and resolve position location；The receipts base station is undetermined for receiving The LFMCW signals of position label transmitting are simultaneously transmitted to hair base station after being handled；The hair base station is used for label forwarding to be positioned Each signal received base station and forwarded, and provide reference signal to base station is received；Each base station of receiving forms a LFMCW with hair base station Signal difference frequency repeater；
The label to be positioned includes label processing module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A, receipts Antenna A, frequency mixer A, amplifier A2 and low pass filter A；The label processing module includes DSP module and A/D modules；It is described DSP module, LFMCW generation modules, power splitter A, amplifier A1, hair antenna A are sequentially connected；The receipts antenna A, frequency mixer A, put Big device A2, low pass filter A, A/D module, DSP module are sequentially connected；The DSP module is used to control LFMCW generation modules to produce Raw LFMCW signals and the signal sent according to A/D modules carry out signal transacting with resolving, and obtain the positional information of label； The power splitter A is also connected with frequency mixer A, makes LFMCW signals caused by LFMCW generation modules through power splitter A points be two-way, and one Road is sent to frequency mixer A and makees local oscillator, and another way is after amplifier A1 amplifications through sending out antenna A transmittings；
The receipts base station includes receiving antenna B, frequency mixer B, low pass filter B, amplifier B, frequency synthesizer B, bandpass filter B1 and bandpass filter B0, wherein receiving antenna B, frequency mixer B, low pass filter B, amplifier B, bandpass filter B1 phase successively Even, bandpass filter B0 output end is connected with frequency synthesizer B, frequency synthesizer B output end also with frequency mixer B phases Even, bandpass filter B1 output end connects hair base station with bandpass filter B0 input by wired mode；Receive base station After the LFMCW signals for receiving label transmission, signal flow direction, which is followed successively by, receives antenna B, frequency mixer B, amplifier B, bandpass filter B1, LFMCW signals are changed to the signal flow direction hair base station matched sending out the cable network between base station and receipts base station；The band logical Wave filter B0 connects the reference signal of transceiver base station and is input to frequency synthesizer B, and frequency synthesizer B is according to the reference signal of reception Produce the local oscillation signal needed for frequency mixer B and be sent to frequency mixer B；
The hair base station includes synthesizer C, amplifier C, hair antenna C, oscillator C, frequency synthesizer C, bandpass filter C0 and M Individual signal receiving unit, include bandpass filter C and frequency mixer C per road signal receiving unit；Connect per road signal receiving unit Receive and receive base station all the way and send signal extremely, the signal that all signal receiving units receive is successively through bandpass filter C filtering, mixed To be sent into synthesizer C after the LFMCW signals of different carrier frequency, synthesizer C synthesizes all LFMCW signals all the way for frequency device C frequency conversions Signal, launched after amplifying by amplifier C by hair antenna C to the interior space；The oscillator C, frequency synthesizer C, band logical Wave filter C0 is sequentially connected, and bandpass filter C0 is connected by wired mode and received base station, and frequency synthesizer C also connects with all signals The frequency mixer C received in unit is connected, and local oscillation signal is provided for frequency mixer C；Frequency synthesizer C is also produced and hair base station and receipts simultaneously The reference signal of cable network matching between base station, reference signal is after bandpass filter C0 by cable-network transmission to each receipts Base station；The reference signal is single-frequency, and its frequency and the signal frequency range of each receipts base station output differ；
It the described method comprises the following steps：
S1, label to be positioned send LFMCW signals：Label to be positioned initiates positioning command, and triggering LFMCW generation modules produce LFMCW signals, LFMCW signals are allocated through power splitter A, are launched all the way after amplifier A amplifications by hair antenna A, another way Export and give frequency mixer A；
S2, receive base station forward signal：The LFMCW signals that base station receives label to be positioned and launched by receiving antenna B are received, reception LFMCW signals and the frequency of frequency synthesizer B outputs are fLBLocal oscillation signal mixing, pass through cable network after the signal after mixing It is sent to hair base station；
S3, hair base station forward signal：Hair base station receives M and receives the M roads signal that base station forwards, and the M roads signal is distinguished Different frequency mixer C is inputted after being filtered to be mixed, obtains M roads radiofrequency signal, and ensures that all radiofrequency signals are being received In antenna A frequency acceptance band, finally by M roads signal synthesis all the way signal and amplify after through send out antenna C be transmitted into the interior space；
S4, label to be positioned receive and the LFMCW signals of processing forward：Label to be positioned receives the M that antenna A connects transceiver base station forwarding Road radiofrequency signal, and the LFMCW signals that the M roads radiofrequency signal is exported with power splitter A are mixed, obtain after difference frequency goes tiltedly Label intermediate-freuqncy signal, after the low-pass filtered device A filtering of label intermediate-freuqncy signal, it is sent into label processing module；
S5, label processing module to be positioned resolve position：Label processing module is by A/D modules by the label intermediate-freuqncy signal of input Digital medium-frequency signal is converted to, is then fed into DSP module；DSP module calculates label to be positioned to the range difference of each receipts base station； And the position that each receipts base station is installed is combined, the position of label to be positioned is calculated using hyperbola cross bearing principle.
A kind of 9. base station relay type linear frequency modulation continuous wave indoor orientation method according to claim 8, it is characterised in that In step S1, the modulation period that LFMCW generation modules produce LFMCW signals is Tm, TmMeet Δ tmax<Tm, Δ tmaxTo be once complete The maximum transmitted time delay of signal during turn over hair, the complete repeating process refer to the hair antenna A transmissions from label to be positioned LFMCW signals play to the receipts antenna A of label to be positioned the process for receiving radiofrequency signal.
10. a kind of base station relay type linear frequency modulation continuous wave indoor orientation method according to claim 8, its feature exist In step S5 specifically includes following steps：
The label intermediate-freuqncy signal of input is converted to digital medium-frequency signal by S51, label processing module by A/D modules, is then sent Enter DSP module；
Digital medium-frequency signal is carried out DFT by S52, DSP module, is obtained the frequency spectrum of digital medium-frequency signal, is passed through door Limit judgement obtains the spectrum peak of M roads positioning signal in label intermediate-freuqncy signal, then obtains spectrum peak using frequency spectrum refinement technology Corresponding frequency values fIFAi, wherein i=1,2 ..., M；
S53, by frequency values fIFAiThe difference frequency value that the system of subtracting is configured, then subtracts each other two-by-two, obtains C (2, M) individual difference on the frequency；
S54, using difference on the frequency caused by each receipts base station to the transmission delay differences between hair base station to the difference on the frequency that is obtained in step S53 Corresponding compensation is carried out, obtains the frequency difference Δ f caused by label to be positioned to the delay of different receipts base stationsij, wherein i, j=1, 2 ..., M, utilize formula Δ Rij=Δ fijTmC/B can calculate label to the range difference of each receipts base station, and wherein c is the light velocity；
S55, the position installed according to each receipts base station, the position of label to be positioned is calculated using hyperbola cross bearing principle Put.
CN201710717833.3A 2017-08-21 2017-08-21 Base station forwarding type linear frequency modulation continuous wave indoor positioning system and method Active CN107526059B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710717833.3A CN107526059B (en) 2017-08-21 2017-08-21 Base station forwarding type linear frequency modulation continuous wave indoor positioning system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710717833.3A CN107526059B (en) 2017-08-21 2017-08-21 Base station forwarding type linear frequency modulation continuous wave indoor positioning system and method

Publications (2)

Publication Number Publication Date
CN107526059A true CN107526059A (en) 2017-12-29
CN107526059B CN107526059B (en) 2020-08-04

Family

ID=60681707

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710717833.3A Active CN107526059B (en) 2017-08-21 2017-08-21 Base station forwarding type linear frequency modulation continuous wave indoor positioning system and method

Country Status (1)

Country Link
CN (1) CN107526059B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108508405A (en) * 2018-04-08 2018-09-07 四川省靓固智能科技有限公司 A kind of localization method synchronized without clock based on UWB
CN108566678A (en) * 2018-04-08 2018-09-21 四川省靓固智能科技有限公司 It is a kind of that positioning system and localization method are synchronized without clock based on UWB
CN109709539A (en) * 2019-01-30 2019-05-03 北京智芯微电子科技有限公司 Intelligent electric meter method of locating terminal and system
CN111679247A (en) * 2020-06-17 2020-09-18 广东博智林机器人有限公司 Signal sending method and system, target positioning method, storage medium and processor
TWI772811B (en) * 2020-05-28 2022-08-01 恆準定位股份有限公司 Ultra-wideband communication positioning method that can improve indoor positioning accuracy
WO2024001518A1 (en) * 2022-07-01 2024-01-04 中兴通讯股份有限公司 Positioning method, terminal, base station, and computer readable storage medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104133191A (en) * 2014-08-22 2014-11-05 电子科技大学 Indoor positioning device and method based on frequency modulated continuous waves
CN104280716A (en) * 2014-08-22 2015-01-14 电子科技大学 Indoor positioning device and method
EP3272161B1 (en) * 2015-03-17 2018-07-11 Philips Lighting Holding B.V. Localization based on motion detection of the mobile device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104133191A (en) * 2014-08-22 2014-11-05 电子科技大学 Indoor positioning device and method based on frequency modulated continuous waves
CN104280716A (en) * 2014-08-22 2015-01-14 电子科技大学 Indoor positioning device and method
EP3272161B1 (en) * 2015-03-17 2018-07-11 Philips Lighting Holding B.V. Localization based on motion detection of the mobile device

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
JOSE-MARIA MUNOZ-FERRERAS等: "Isolate the Clutter: Pure and Hybrid Linear-Frequency-Modulated Continuous-Wave (LFMCW) Radars for Indoor Applications", 《IEEE MICROWAVE MAGAZINE》 *
李冕和: "基于LFMCW的室内高精度定位技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108508405A (en) * 2018-04-08 2018-09-07 四川省靓固智能科技有限公司 A kind of localization method synchronized without clock based on UWB
CN108566678A (en) * 2018-04-08 2018-09-21 四川省靓固智能科技有限公司 It is a kind of that positioning system and localization method are synchronized without clock based on UWB
CN109709539A (en) * 2019-01-30 2019-05-03 北京智芯微电子科技有限公司 Intelligent electric meter method of locating terminal and system
TWI772811B (en) * 2020-05-28 2022-08-01 恆準定位股份有限公司 Ultra-wideband communication positioning method that can improve indoor positioning accuracy
CN111679247A (en) * 2020-06-17 2020-09-18 广东博智林机器人有限公司 Signal sending method and system, target positioning method, storage medium and processor
WO2024001518A1 (en) * 2022-07-01 2024-01-04 中兴通讯股份有限公司 Positioning method, terminal, base station, and computer readable storage medium

Also Published As

Publication number Publication date
CN107526059B (en) 2020-08-04

Similar Documents

Publication Publication Date Title
CN107526059A (en) A kind of base station relay type linear frequency modulation continuous wave indoor locating system and method
Gottinger et al. Coherent automotive radar networks: The next generation of radar-based imaging and mapping
JP5389039B2 (en) System and method for distributing accurate time and frequency across a network
CN104280716B (en) Indoor positioning device and method
US20130322214A1 (en) Ultrasound-based localization of client devices in distributed communication systems, and related devices, systems, and methods
US9766321B2 (en) Indoor positioning with radio frequency chirp signal propagation delay measurement
US20040012524A1 (en) System for determining the position of an object
GB2222922A (en) Vehicle location system
US20170176583A1 (en) Method in a Radar System, Radar System, and/or Device of a Radar System
JP4466988B2 (en) Mobile object detection system using digital tele-broadcasting transmission by array of terrestrial transmitters
US20110193739A1 (en) Orthogonal Frequency Division Multiplexing (OFDM) Radio as Radar
CN106680852B (en) Localization method and system based on satellite navigation signals Deceiving interference
HUP0202981A2 (en) Methods and devices for creating list of the signal displacements from several transmitter unit, as well as, radio positioning method and system, and digital telephone network
JP2003121538A (en) Method for sharing radio frequency in time-multiplex modulation
CN108076445A (en) Use the GNSS signal transmissions of cordless communication network
JP2021519940A (en) Monitoring of FMCW radar sensor
Stelzer et al. Precise distance measurement with cooperative FMCW radar units
AU2012283489A1 (en) Method and system for locating a current position or a coupling location of a mobile unit using a leaky waveguide
CN104267377A (en) Method for labels to actively send signals to anchor nodes for positioning
JP6760592B2 (en) Beacon device, direction estimation method using the beacon device, position estimation method, and communication terminal device
US20100097266A1 (en) Single platform passive coherent location using a digital receiver
JPS5834370A (en) Multiple wave analyzer
EP2642312B1 (en) Hardware-reduced system for TDOA-locating of radio frequency emitters
CN104459620B (en) A kind of radio positioner and method
EP3393077B1 (en) Method and apparatus for compensating for optical transmission delay

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20210202

Address after: 230001 Room 101, 17 / F, building 15, Luyang big data Industrial Park, Qinghe Road, Luyang District, Hefei City, Anhui Province

Patentee after: Hefei sixianzhi New Technology Co.,Ltd.

Address before: 610000 No. 2006 West Yuan Road, Chengdu high tech Zone (West District), Sichuan

Patentee before: University of Electronic Science and Technology of China