CN107783162A - Indoor and outdoor seamless butt junction location system based on UWB and dipper system - Google Patents
Indoor and outdoor seamless butt junction location system based on UWB and dipper system Download PDFInfo
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- CN107783162A CN107783162A CN201711294191.7A CN201711294191A CN107783162A CN 107783162 A CN107783162 A CN 107783162A CN 201711294191 A CN201711294191 A CN 201711294191A CN 107783162 A CN107783162 A CN 107783162A
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- uwb
- positioning
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- outdoor
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Classifications
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a kind of indoor and outdoor seamless butt junction location system based on UWB and dipper system, UWB base stations including positioning label and multiple covering room areas, positioning label includes controller, the Big Dipper locating module for outdoor positioning, the UWB locating modules and power module for indoor positioning, and Big Dipper locating module, UWB modules, power module are electrically connected with the controller；When positioning label is located at room area, controller control UWB locating module work, UWB locating modules launch impulse radio, multiple UWB base stations receive the impulse radio and launch feedback signal, UWB locating modules receive the feedback signal, and indoor positioning coordinate information is calculated by controller analysis；When positioning label is in outdoor area, controller control UWB locating modules are stopped, and control the work of Big Dipper locating module, and Big Dipper locating module receives the signal that Beidou satellite navigation system is launched, and outdoor positioning coordinate information is calculated by controller analysis.
Description
Technical field
The invention belongs to technical field of navigation and positioning, and in particular to a kind of indoor and outdoor based on UWB and dipper system
Slitless connection alignment system.
Background technology
As location technology has been not limited to simple in the continuous expansion of application, emerging application to the demand of positioning
Outdoor scene, positioning indoors, mixed positioning under a variety of environment etc. it is also proposed new demand.
The content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, there is provided one kind collection indoor positioning function and room
Outer positioning function in one and can free switching mode of operation the indoor and outdoor seamless butt junction location based on UWB and dipper system
System.
What the present invention was realized in：Indoor and outdoor seamless butt junction location system based on UWB and dipper system, including it is fixed
The UWB base stations of position label and multiple covering room areas, the positioning label include controller, the north for outdoor positioning
Struggle against locating module, the UWB locating modules for indoor positioning and the power module for the power supply of each part, the Big Dipper positioning mould
Block, the UWB modules, the power module electrically connect with the controller；
Wherein, when the positioning label is located at room area, the controller controls the UWB locating modules work,
The UWB locating modules launch impulse radio, and multiple UWB base stations receive the impulse radio and launch feedback signal,
The UWB locating modules receive the feedback signal, and indoor positioning coordinate information is calculated by controller analysis；
When the positioning label is in outdoor area, the controller controls the UWB locating modules to be stopped, and
The Big Dipper locating module is controlled to work, the Big Dipper locating module receives the signal of Beidou satellite navigation system transmitting, and
Outdoor positioning coordinate information is calculated by controller analysis.
As the preferred scheme of the present invention, the positioning label also includes being used to show the indoor positioning coordinate letter
Number and the outdoor positioning coordinate information state display module.
As the preferred scheme of the present invention, the UWB locating modules include being used to launch the first of impulse radio
First receiving module of sending module and the feedback signal for receiving the UWB Base Transmitters；The UWB base stations include using
In the second sending module and the second receiving module for receiving impulse radio that send feedback signal.
As the preferred scheme of the present invention, what the controller included being connected with the UWB locating modules is used to divide
Analysis calculates and generates the first computing module of the indoor positioning coordinate information and the use being connected with the Big Dipper locating module
Calculated in analysis and generate the second computing module of the outdoor positioning coordinate information.
As the preferred scheme of the present invention, the quantity of the UWB base stations is at least 3.
As the preferred scheme of the present invention, the minimum angle of the triangle formed between any 3 UWB base stations is more than
Equal to 15 °.
As the preferred scheme of the present invention, the positioning label also includes being used for the wireless telecommunications mould with external communication
Block, the wireless communication module electrically connect with the controller.
As the preferred scheme of the present invention, the controller is ARM controller.
A kind of indoor and outdoor seamless butt junction location system based on UWB and dipper system provided by the invention, wherein, work as institute
Positioning label is stated when be located at room area, the controller controls the UWB locating modules work, and the UWB locating modules are sent out
Impulse radio is penetrated, multiple UWB base stations receive the impulse radio and launch feedback signal, and the UWB locating modules connect
The feedback signal is received, and indoor positioning coordinate information is calculated by controller analysis；When the positioning label is in
When outdoor, the controller controls the UWB locating modules to be stopped, and controls the Big Dipper locating module work, described
Big Dipper locating module receives the signal of Beidou satellite navigation system transmitting, and outdoor is calculated by controller analysis and determines
Position coordinate information, and then the indoor and outdoor seamless butt junction location system provided by the invention based on UWB and dipper system, can be in room
Seamless switching between interior positioning and outdoor positioning, it is practical.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.
Fig. 1 is the indoor and outdoor seamless butt junction location system provided in an embodiment of the present invention based on UWB and dipper system
Module diagram；
Fig. 2 is the module diagram of positioning label provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Unless otherwise defined, the technical term or scientific terminology that the present invention uses, which are should be in art of the present invention, to be had
The ordinary meaning that the personage for having general technical ability is understood." first ", " second " and the similar word used in the present invention is simultaneously
Any order, quantity or importance are not indicated that, and is used only to distinguish different parts.Equally, "one", " one " or
The similar word such as person's "the" does not indicate that quantity limits yet, but represents to exist at least one." comprising " or "comprising" etc. are similar
Word mean to occur element before the word either object cover the element for appearing in the word presented hereinafter or object and its
It is equivalent, and it is not excluded for other elements or object.The similar word such as " connection " or " connected " be not limited to physics or
The connection of person's machinery, but electrical connection can be included, it is either directly or indirect." on ", " under ", " left side ",
" right side " etc. is only used for representing relative position relation, after the absolute position for being described object changes, then the relative position relation
May correspondingly it change.
Embodiment
Fig. 1, Fig. 2 are referred to, the indoor and outdoor seamless butt junction location system based on UWB and dipper system, including positioning mark
Label 1 and it is multiple covering room area UWB base stations 2 (i.e. UWB base stations are located at room area, and can cover room area, with
In the impulse radio for receiving positioning label transmission), label 1 includes controller 11, the Big Dipper for outdoor positioning is determined for positioning
Position module 12, the UWB locating modules 13 for indoor positioning and the power module 14 for the power supply of each part, power module 14 can
To be lithium battery etc., Big Dipper locating module 12, UWB modules, power module 14 electrically connect with controller 11；Wherein, specifically,
Controller 11 can be ARM controller, such as ARMCortex-A50, arm processor have little power consumption function it is strong, 16/32 it is double
Numerous three big feature of instruction set and affiliate.Arm processor is widely used in portable communication products, holds computing, be more
The field such as media and embedded solution, it has also become RISC standard.
Wherein, when positioning label 1 is located at room area, controller 11 controls UWB locating modules 13 to work, UWB positioning
Module 13 launches impulse radio, and multiple UWB base stations 2 receive the impulse radio and launch feedback signal, UWB locating modules 13
The feedback signal is received, and indoor positioning coordinate information is calculated by the analysis of controller 11；
I.e. the indoor and outdoor seamless butt junction location system based on UWB and dipper system is realized indoor fixed using UWB technology
Position, specifically, UWB (UltraWideband) is a kind of no-load communication techniques, the non-sine using nanosecond to picosecond level
Ripple burst pulse transmits data.By transmitting the signal of extremely low power on wider frequency spectrum, UWB technology can be in 10 meters or so of model
Enclose it is interior realize hundreds of Mbit/s to several Gbit/s message transmission rate, there is strong anti-interference performance, transmission rate is high, and system is held
Measure that big transmit power is very small, the advantages that system power supply working time can be greatly prolonged.
In above-mentioned, specifically, in the present embodiment, the TOF (flight time is used between UWB locating modules 13 and UWB base stations 2
Telemetry) ranging, i.e., launch the very first time of impulse radio by UWB locating modules 13, multiple UWB base stations 2 receive the arteries and veins
Rush the second time of radio, and then controller 11 calculates the time difference of the very first time and the second time by analyzing, and obtains arteries and veins
The flight time of radio is rushed, and then calculates the distance that UWB locating modules 13 lead each UWB base stations 2, and then determines that UWB determines
The indoor positioning coordinate information of position module 13, that is, determine the indoor coordinate information of positioning label 1.
Also, when positioning label 1 is in outdoor area, controller 11 controls UWB locating modules 13 to be stopped, and controls
Big Dipper locating module 12 processed works, and Big Dipper locating module 12 receives the signal of Beidou satellite navigation system transmitting, and by controlling
Outdoor positioning coordinate information is calculated in the analysis of device 11.
That is the indoor and outdoor seamless butt junction location system based on UWB and dipper system, utilizes Beidou satellite navigation system
Outdoor positioning is realized, specifically, Beidou satellite navigation system space segment is defended by 5 satellites and 30 non-geostationary orbits
Star forms, and at 2012 or so, Beidou satellite navigation system will be provided with covering positioning, navigation and the time service of the Asian-Pacific area and short
Message communication service ability.
In above-mentioned, it is to be understood that Big Dipper locating module 12 is led that is, a receiver by receiving big-dipper satellite
The radio of boat system Satellite transmitting, every satellite is calculated the distance between to receiver by the analysis of controller 11, and then
The outdoor coordinate information of Big Dipper locating module 12 is obtained, that is, obtains positioning the outdoor positioning coordinate information of label 1.
Seen from the above description, the indoor and outdoor seamless butt junction location based on UWB and dipper system that the present embodiment provides
System, it can realize that the positioning indoor positioning of label 1 and outdoor positioning freely docks, i.e., when the positioning movement of label 1 (such as position
In on mobile object), if being moved to outdoor area, controller 11 controls UWB locating modules 13 to be stopped, and controls the Big Dipper to determine
Position module 12 works, and Big Dipper locating module 12 receives the signal of Beidou satellite navigation system transmitting, and is analyzed by controller 11
Outdoor positioning coordinate information is calculated；If being moved to room area by outdoor, controller 11 controls Big Dipper locating module 12 to stop
Only work, control UWB locating modules 13 work, and UWB locating modules 13 launch impulse radio, and multiple UWB base stations 2 receive the arteries and veins
Rush radio and launch feedback signal, UWB locating modules 13 receive the feedback signal, and are calculated by the analysis of controller 11
Indoor positioning coordinate information, i.e. the indoor and outdoor seamless butt junction location system based on UWB and dipper system can be marked according to positioning
The position of label 1, automatic switchover mode of operation, and then can ensure to position the no matter tangible room area of label 1 or outdoor area,
There is higher positioning precision, and outdoor area is moved to from room area when positioning label 1, or moved from outdoor area
During to room area, positioning label 1 seamless can realize indoor and outdoor precise positioning by automatic switchover mode of operation.
Preferably, in the present embodiment, positioning label 1 also includes being used to show that indoor positioning coordinate signal and outdoor are fixed
The state display module 15 of position coordinate information, state display module 15 electrically connect with controller 11, can show that this is based on UWB thereon
With the mode of operation and indoor positioning coordinate information or outdoor fixed of the indoor and outdoor seamless butt junction location system of dipper system
Position coordinate information etc., specifically, it can be a LCD screen or LED screen etc..
Preferably, in the present embodiment, UWB locating modules 13 include being used for the first sending module for launching impulse radio
And the first receiving module of the feedback signal for receiving the transmitting of UWB base stations 2；UWB base stations 2 include being used to send feedback signal
The second sending module and the second receiving module for receiving impulse radio.
In above-mentioned, i.e. the first sending module sends impulse radio (and then can determine that the very first time of transmission), and second connects
Receive module and receive impulse radio (and then can determine that the second time of reception), the second sending module sends feedback signal and (carried
Have the second temporal information, determined for the second time for controller 11), the first receiving module receives feedback signal, and then controls
Device 11 can obtain the second time that the second receiving module receives impulse radio according to the feedback signal, and then controller 11 can divide
Analysis calculates the time difference of the very first time and the second time, obtains the flight time of impulse radio, and then calculate UWB positioning moulds
Block 13 leads the distance of each UWB base stations 2, and then determines the indoor positioning coordinate information of UWB locating modules 13, that is, determines positioning mark
The indoor coordinate information of label 1.
In above-mentioned, specifically, the analysis that is used for that controller 11 includes being connected with UWB locating modules 13 calculates and generates interior
First computing module 111 of elements of a fix information and the analysis that is used for being connected with Big Dipper locating module 12 calculate and generate outdoor
Second computing module 112 of elements of a fix information.
Preferably, in the present embodiment, the quantity of UWB base stations 2 is at least 3, and is formed between any 3 UWB base stations 2
Triangle minimum angle be more than or equal to 15 °, and then avoid by UWB base stations 2 determine position label 1 distance so that determination
When positioning the position of label 1, the situation for interfering with each other and then causing positioning precision to reduce can be produced.
As the preferred scheme of the present invention, positioning label 1 also includes being used for the wireless communication module with external communication,
Wireless communication module electrically connects with controller 11, can transmit the positional information etc. that position label 1 to outside, and it specifically can be with
It is the modules such as bluetooth, WLAN.
In summary, a kind of indoor and outdoor seamless butt junction location system based on UWB and dipper system provided by the invention,
Wherein, when positioning label and be located at room area, controller control UWB locating modules work, the transmitting pulse of UWB locating modules without
Line electricity, multiple UWB base stations receive the impulse radio and launch feedback signal, and UWB locating modules receive the feedback signal, and
Indoor positioning coordinate information is calculated by controller analysis；When positioning label is in outdoor, controller control UWB positioning moulds
Block is stopped, and controls the work of Big Dipper locating module, and Big Dipper locating module receives the signal of Beidou satellite navigation system transmitting,
And outdoor positioning coordinate information is calculated by controller analysis, so it is provided by the invention based on UWB and dipper system
Indoor and outdoor seamless butt junction location system, can position indoors and outdoor positioning between seamless switching, it is practical.
Have it is following some need to illustrate：
(1) unless otherwise defined, in embodiments of the invention and accompanying drawing, same label represents same implication.
(2) in accompanying drawing of the embodiment of the present invention, relate only to the present embodiments relate to structure, other structures can join
Examine and be commonly designed.
(3) for clarity, in the accompanying drawing for describing embodiments of the invention, the thickness in layer or region is put
Greatly.It is appreciated that when the element of such as layer, film, region or substrate etc is referred to as "above" or "below" another element, should
Element can be " direct " "above" or "below" another element, or there may be intermediary element.
(4) in the case where not conflicting, the feature in the same embodiment of the invention and different embodiments can be mutual group
Close.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Any modification, equivalent substitution or improvement for being made within principle etc., should be included in the scope of the protection.
Claims (8)
1. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, it is characterised in that including positioning label and
The UWB base stations of multiple covering room areas, the positioning label include controller, the Big Dipper positioning mould for outdoor positioning
Block, the UWB locating modules for indoor positioning and the power module for the power supply of each part, it is the Big Dipper locating module, described
UWB modules, the power module electrically connect with the controller；
Wherein, when the positioning label is located at room area, the controller controls the UWB locating modules work, described
UWB locating modules launch impulse radio, and multiple UWB base stations receive the impulse radio and launch feedback signal, described
UWB locating modules receive the feedback signal, and indoor positioning coordinate information is calculated by controller analysis；
When the positioning label is in outdoor area, the controller controls the UWB locating modules to be stopped, and controls
The Big Dipper locating module work, the Big Dipper locating module receive the signal of Beidou satellite navigation system transmitting, and by institute
State controller analysis and outdoor positioning coordinate information is calculated.
2. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, its feature exist as claimed in claim 1
In the positioning label also includes being used for the shape for showing the indoor positioning coordinate signal and the outdoor positioning coordinate information
State display module, the state display module electrically connect with the controller.
3. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, its feature exist as claimed in claim 1
In the UWB locating modules include being used to launch the first sending module of impulse radio and for receiving the UWB base stations
First receiving module of the feedback signal of transmitting；The UWB base stations include being used for sending the second sending module of feedback signal with
And for receiving the second receiving module of impulse radio.
4. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, its feature exist as claimed in claim 1
In what the controller included being connected with the UWB locating modules is used to analyze calculating and generates the indoor positioning coordinate letter
First computing module of breath and the analysis that is used for being connected with the Big Dipper locating module calculate and generate the outdoor positioning seat
Mark the second computing module of information.
5. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, its feature exist as claimed in claim 1
In the quantity of the UWB base stations is at least 3.
6. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, its feature exist as claimed in claim 5
In the minimum angle of the triangle formed between any 3 UWB base stations is more than or equal to 15 °.
7. the indoor and outdoor seamless butt junction location system based on UWB and dipper system, its feature exist as claimed in claim 1
In the positioning label also includes being used for the wireless communication module with external communication, the wireless communication module and the control
Device electrically connects.
8. the indoor and outdoor seamless butt junction location system based on UWB and dipper system as described in claim any one of 1-7, its
It is characterised by, the controller is ARM controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294191.7A CN107783162A (en) | 2017-12-08 | 2017-12-08 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294191.7A CN107783162A (en) | 2017-12-08 | 2017-12-08 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
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| CN107783162A true CN107783162A (en) | 2018-03-09 |
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| CN201711294191.7A Pending CN107783162A (en) | 2017-12-08 | 2017-12-08 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375244A (en) * | 2018-09-28 | 2019-02-22 | 北斗天地股份有限公司 | A kind of positioning device and its localization method |
| CN111103611A (en) * | 2020-01-16 | 2020-05-05 | 合肥四相至新科技有限公司 | UWB and GPS integrated positioning method and system |
| CN111383440A (en) * | 2018-12-29 | 2020-07-07 | 北京骑胜科技有限公司 | Standard parking method and device for shared vehicles and electronic equipment |
| CN113766626A (en) * | 2021-08-24 | 2021-12-07 | 国网思极神往位置服务（北京）有限公司 | UWB positioning system time slot synchronization control method, device, storage medium and program product based on Beidou time service |
| CN114814918A (en) * | 2022-04-07 | 2022-07-29 | 深圳市乐凡信息科技有限公司 | Positioning switching method, device, equipment and storage medium |
| CN116723569A (en) * | 2023-08-10 | 2023-09-08 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
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| CN107402400A (en) * | 2017-07-27 | 2017-11-28 | 国网河南省电力公司电力科学研究院 | Taiwan area data generaI investigation mobile terminal and localization method based on GPS and UWB |
| CN207528921U (en) * | 2017-12-08 | 2018-06-22 | 深圳市中舟智能科技有限公司 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
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| CN107402400A (en) * | 2017-07-27 | 2017-11-28 | 国网河南省电力公司电力科学研究院 | Taiwan area data generaI investigation mobile terminal and localization method based on GPS and UWB |
| CN207528921U (en) * | 2017-12-08 | 2018-06-22 | 深圳市中舟智能科技有限公司 | Indoor and outdoor seamless butt junction location system based on UWB and dipper system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375244A (en) * | 2018-09-28 | 2019-02-22 | 北斗天地股份有限公司 | A kind of positioning device and its localization method |
| WO2020062531A1 (en) * | 2018-09-28 | 2020-04-02 | 北斗天地股份有限公司 | Positioning device and positioning method therefor |
| CN111383440A (en) * | 2018-12-29 | 2020-07-07 | 北京骑胜科技有限公司 | Standard parking method and device for shared vehicles and electronic equipment |
| CN111103611A (en) * | 2020-01-16 | 2020-05-05 | 合肥四相至新科技有限公司 | UWB and GPS integrated positioning method and system |
| CN111103611B (en) * | 2020-01-16 | 2021-09-07 | 合肥四相至新科技有限公司 | UWB and GPS integrated positioning method and system |
| CN113766626A (en) * | 2021-08-24 | 2021-12-07 | 国网思极神往位置服务（北京）有限公司 | UWB positioning system time slot synchronization control method, device, storage medium and program product based on Beidou time service |
| CN114814918A (en) * | 2022-04-07 | 2022-07-29 | 深圳市乐凡信息科技有限公司 | Positioning switching method, device, equipment and storage medium |
| CN116723569A (en) * | 2023-08-10 | 2023-09-08 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
| CN116723569B (en) * | 2023-08-10 | 2023-11-03 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
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