CN108112070A - A kind of method of time synchronization in unidirectional alignment systems of UWB - Google Patents
A kind of method of time synchronization in unidirectional alignment systems of UWB Download PDFInfo
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- CN108112070A CN108112070A CN201711442974.5A CN201711442974A CN108112070A CN 108112070 A CN108112070 A CN 108112070A CN 201711442974 A CN201711442974 A CN 201711442974A CN 108112070 A CN108112070 A CN 108112070A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/0055—Synchronisation arrangements determining timing error of reception due to propagation delay
- H04W56/0065—Synchronisation arrangements determining timing error of reception due to propagation delay using measurement of signal travel time
- H04W56/007—Open loop measurement
- H04W56/0075—Open loop measurement based on arrival time vs. expected arrival time
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The method that the present invention provides time synchronization in a kind of unidirectional alignment systems of UWB lays the anchor point of several known locations in orientation range, it is characterised in that：The reference point of known location is laid in orientation range, the UWB equipment placed in reference point possesses signal transmission function, and the UWB equipment placed on anchor point possesses receiving and transmitting semiotic function, positions the UWB equipment at label and only needs to have reception semiotic function；The electromagnetic wave propagation time calculated by meter between each anchor point and positioning label is poor, and the time difference of positioning label is arrived separately at based on each two anchor point, obtains the coordinate of positioning label.Positioning label capacity during present invention application can be with infinite expanding, while tag power consumption is minimized, and overall structure is simple, it is easy to accomplish.
Description
Technical field
The invention belongs to location technologies, are related to the method based on UWB and TDOA technological orientations.
Background technology
Outdoor positioning technology is highly developed, in the market there are many GNSS device can meet different user from meter level to
Millimetre-sized various demands.And in fact, numerous industries all propose indoor positioning technologies increasingly higher demands, such as Internet of Things
Net industry, industrial premises, tourism industry, business place, airport, fire-fighting, public security is military, parking lot, medical treatment, robot, nobody
Machine, tunnel mine etc..For indoor positioning, although solution there are many at present, for example, base station location, WIFI fingerprint locations,
Ultrasonic wave positions, bluetooth positioning, ground magnetic orientation, pseudolite positioning, UWB (Ultra-Wideband, ultra wide band) positioning etc., still
Due to technology limitation and cost problem, there has been no allow the customer satisfaction system maturation of different stage as GNSS location technologies at present
Product furtherly, or these technology positioning accuracies can not be met the requirements, can only meet the needs of low precision user,
Cost is too high, it is difficult to promote.
At present using in more indoor positioning technologies solution, the result of UWB positioning at present is the most accurate, and
And the propagation characteristic of UWB makes its anti-interference, anti-multipath and penetration performance significantly better than other technologies, therefore with good hair
Exhibition prospect.The basis of UWB positioning is the measurement electromagnetic wave propagation time to carry out ranging, is further determined with distance measurement result
Position.Current method is to be first by certain communications protocol, flight time of the measurement electromagnetic wave between anchor point and label
(also measuring the relative direction between them sometimes) due to the aerial spread speed, that is, light velocity of electromagnetic wave, thus can count
Calculate the distance between anchor point and label.But due to the clock source generally use temperature compensating crystal oscillator of each anchor point and label even
Common crystals, therefore there are problems that clock jitter and clock drift, cause the time of each anchor point and label same
Step, and the method taken at present is to rely on repeatedly to communicate to eliminate the nonsynchronous problem of clock between control anchor point and label, with
Obtain more accurate ranging and positioning result.This multiple traffic operation is after the quantity of label and anchor point increases, effect
Rate can drastically decline, and position refresh rate critical constraints, meanwhile, the power consumption of label is also higher, and obstruction is brought to practical.Therefore
Only by the way that the two-way pattern repeatedly to communicate is changed to one-way communication ranging, increasing without limitation for positioning number of labels could be realized,
However current one-way communication ranging is the method using hardware timeout synchronization, hardware is extremely complex, and cost is too high, and for
The dependence of time synchronization server is very strong, and therefore, it is difficult to implement.
The content of the invention
The technical problems to be solved by the invention are, by reference to the method for point, to eliminate the clock difference between each anchor point,
So that the clock between reference station obtains synchronization in logic, so as to fulfill the high-precision Passive Positioning of label.
The method that the present invention provides time synchronization in a kind of unidirectional alignment systems of UWB, laid in orientation range it is several
Know the anchor point of position, the reference point of known location is laid in orientation range, the UWB equipment placed in reference point possesses signal hair
Function is penetrated, the UWB equipment placed on anchor point possesses receiving and transmitting semiotic function, and positioning the UWB equipment at label only needs to have
It is standby to receive semiotic function；The electromagnetic wave propagation time calculated by meter between each anchor point and positioning label is poor, based on every
Two anchor points arrive separately at the time difference of positioning label, obtain the coordinate of positioning label；For survey calculation electromagnetic wave propagation time
Difference carries out following operation,
Reference point timing sends timing signal；
Each anchor point stores the electromagnetic wave propagation time T that itself arrives reference point(a,ref)And it is respective transmitting delay when
Between Td, each anchor point performs to be operated as follows,
1) anchor point state is arranged to signal reception state；
2) after anchor point receives timing signal, at the time of receiving timing signal with the time system record of oneself, the moment
Value be Ta+T(a,ref), and positioning message is generated, position the electromagnetic wave biography that the anchor point itself is included at least in message to reference point
T between sowing time(a,ref)With the dead time T of the anchor pointdAnd the coordinate (Xa, Ya, Za) of the anchor point itself；Wherein, TaIt represents
Anchor point subtracts the electromagnetic wave propagation time T that anchor point itself arrives reference point at the time of receiving timing signal(a,ref), i.e. reference point sends
During timing signal at the time of the time system of anchor point oneself；
3) T is waiteddAfter time, which is arranged to emission state, and then positioning message transmission is gone out；
After positioning label receives positioning message, to position T at the time of the time system of label itself record receives messaget+
Trx, wherein Trx=T(a,ref)+Td+T(tag,a), T(tag,a)Be electromagnetic wave from anchor point to positioning label propagation time, TrxDuring expression
Mark signal is transferred to the propagation time of positioning label, T from reference point through anchor pointtRepresent positioning mark when reference point sends timing signal
At the time of signing the time system of oneself；After it will position message decoding, T is obtained(a,ref)With Td。
Moreover, survey calculation electromagnetic wave propagation time is poor, realization method is as follows,
If being respectively anchor point n and anchor point m there are two anchor point, after positioning label receives the positioning message of the two anchor points,
By performing the time synchronization problem between following operation solution anchor point, obtaining each anchor point and positioning the electromagnetic wave between label
Propagation time difference,
1) when receiving the positioning message that anchor point n is sent, the positioning message of record anchorage n transmitting reach positioning label when
It carves, Tan_rx=Tt+T(an,ref)+Tdn+T(tag,an)
Wherein, T(an,ref)、Tdn、T(tag,an)Respectively anchor point n is to the wait of the electromagnetic wave propagation time, anchor point n of reference point
Time, anchor point n to the electromagnetic wave propagation time of positioning label, TtIt represents to position label oneself when reference point sends timing signal
At the time of time system,
Then have,
T(tag,an)=Tan_rx–Tt–T(an,ref)–Tdn
2) when receiving the positioning message that anchor point m is sent, the positioning message of record anchorage m transmitting reach positioning label when
It carves, Tam_rx=Tt+T(am,ref)+Tdm+T(tag,am)
Wherein, T(am,ref)、Tdm、T(tag,am)Respectively anchor point m is to the wait of the electromagnetic wave propagation time, anchor point m of reference point
Time, anchor point m to the electromagnetic wave propagation time of positioning label, TtIt represents to position label oneself when reference point sends timing signal
At the time of time system,
Then have,
T(tag,am)=Tam_rx–Tt–T(am,ref)–Tdm
3) calculate electromagnetic wave and arrive separately at time difference of positioning label Tag from anchor point n and anchor point m and be,
T(tag,an)–T(tag,am)=Tan_rx–Tt–T(an,ref)–Tdn–(Tam_rx–Tt–T(am,ref)–Tdm)
=Tan_rx–Tam_rx–T(an,ref)–Tdn+T(am,ref)+Tdm
Wherein, Tan_rx、Tam_rxIt is obtained by the arrival time of positioning label self record positioning message, and T(an,ref)、
Tdn、T(am,ref)、TdmIt is both contained in positioning message, therefore T(tag,an)–T(tag,am)Value determine, so as to obtain electromagnetic wave from
Anchor point n and anchor point m arrives separately at the time difference of positioning label Tag.
Positioning label capacity during present invention application can be with infinite expanding, while tag power consumption is minimized, and whole knot
Structure is simple, it is easy to accomplish.This method is not only suitable for all alignment systems using propagation properties ranging, has extensive
Versatility.
Description of the drawings
Fig. 1 is the system structure diagram of the embodiment of the present invention；
Fig. 2 is the time difference relation schematic diagram of the embodiment of the present invention.
Specific embodiment
Below in conjunction with drawings and examples the present invention will be described in detail technical solution.
Referring to Fig. 1, the method that the embodiment of the present invention uses is：
In orientation range, in addition to laying the anchor point 1 of a certain number of known locations, then the reference of known location is laid
Point 2.The UWB equipment placed in reference point possesses signal transmission function, and the UWB equipment placed on anchor point possesses receiving and transmitting letter
Number function, as long as the UWB equipment of positioning label 3 receives signal, without transmitting.The laying quantity of anchor point 1 has minimum requirements,
If carrying out two-dimensional coordinate positioning, three are at least needed, if carrying out three-dimensional coordinate positioning, at least needs four.To protect
Demonstrate,prove the covering of localization region and by improving positioning accuracy, the anchor point quantity usually laid is higher than this minimum requirements number
Amount.A reference point is only needed in one localization region, if causing a reference point can not be with attenuation problem due to blocking
All anchor point communications, then need to increase reference point.The quantity of positioning label is increased on demand by user, since present invention employs quilts
Dynamic positioning, therefore the quantity for positioning label is unrestricted, can infinitely increase.
1, reference point, each anchor point, each own time system of oneself of each positioning label, are respectively Tr,TA, jAnd
TT, k, j is anchor point number, and k is positioning tag number.
2, reference point timing sends timing signal, and frequency is more high, and it is higher that system must position refresh rate, but is considered as simultaneously
The conversion speed of anchor point, and retain certain surplus.According to the difference of selected traffic rate and the length of message not
Together, timing signal emission rate can be selected preferably between 0.1Hz to 1000Hz；
3, each anchor point stores the electromagnetic wave propagation time T that itself arrives reference point(a,ref)And respective transmitting delay
Time Td, since the coordinate of anchor point and reference point is all it is known that therefore can directly calculate T in advance according to light velocity formula(a,ref)。
Dead time T is setdEffect be, after anchor point receives timing signal, delay a period of time retransmit positioning message,
The time delay of each anchor point staggers, and causes to lose message to avoid conflict；
Each anchor point performs following operation：
1) anchor point state is arranged to signal reception state；
2) after anchor point receives timing signal, at the time of receiving timing signal with the time system record of oneself, the moment
Value be Ta+T(a,ref), and positioning message is generated, when arriving the Electromagnetic Wave Propagation of reference point including at least the anchor point itself in message
Between T(a,ref)With the dead time T of the anchor pointdAnd the coordinate (Xa, Ya, Za) of the anchor point itself；Wherein, TaRepresent anchor point
The electromagnetic wave propagation time T that anchor point itself arrives reference point is subtracted at the time of receiving timing signal(a,ref), i.e. reference point sends markers
During signal at the time of the time system of anchor point oneself；
3) T is being waiteddAfter time, which is arranged to emission state, and then positioning message transmission is gone out.
4, after positioning label receives the message, to position T at the time of the time system of label itself record receives messaget+
Trx, wherein Trx=T(a,ref)+Td+T(tag,a), T(tag,a)Be electromagnetic wave from anchor point to positioning label propagation time, TrxDuring expression
Mark signal is transferred to the propagation time of positioning label, T from reference point through anchor pointtRepresent positioning mark when reference point sends timing signal
At the time of signing the time system of oneself.
After it will position message decoding, T can be obtained(a,ref)With Td。
5, it is assumed that there are two anchor point it is respectively anchor point n and anchor point m, such as Fig. 2, reference point T at the time of oneself time systemt
Timing signal is sent, is at this time T at the time of the time system of anchor point nan, it is T at the time of the time system of anchor point mam, positioning mark
It is T at the time of the time system of labelt.After positioning label receives the positioning message of the two anchor points, pass through and perform following operation
The time synchronization problem between anchor point is solved, it is poor to obtain the electromagnetic wave propagation time between each anchor point and positioning label, from
And the coordinate of positioning label itself can be further acquired by TDOA algorithms：
1) when receiving the positioning message that anchor point n is sent, the positioning message of record anchorage n transmitting reach positioning label when
It carves：
Tan_rx=Tt+T(an,ref)+Tdn+T(tag,an)
Wherein, T(an,ref)、Tdn、T(tag,an)Respectively anchor point n is to the wait of the electromagnetic wave propagation time, anchor point n of reference point
Time, anchor point n to the electromagnetic wave propagation time of positioning label, TtIt represents to position label oneself when reference point sends timing signal
At the time of time system.
Then have：
T(tag,an)=Tan_rx–Tt–T(an,ref)–Tdn
2) when n receives the positioning message that anchor point m is sent, the positioning message of record anchorage m transmittings reaches positioning label
Moment：
Tam_rx=Tt+T(am,ref)+Tdm+T(tag,am)
Wherein, T(am,ref)、Tdm、T(tag,am)Respectively anchor point m is to the wait of the electromagnetic wave propagation time, anchor point m of reference point
Time, anchor point m to the electromagnetic wave propagation time of positioning label, TtIt represents to position label oneself when reference point sends timing signal
At the time of time system.Then have：
T(tag,am)=Tam_rx–Tt–T(am,ref)–Tdm
3) time difference that calculating electromagnetic wave arrives separately at positioning label Tag from anchor point n and anchor point m is：
T(tag,an)–T(tag,am)
=Tan_rx–Tt–T(an,ref)–Tdn–(Tam_rx–Tt–T(am,ref)–Tdm)
=Tan_rx–Tam_rx–T(an,ref)–Tdn+T(am,ref)+Tdm
Wherein, Tan_rx、Tam_rxIt is obtained by the arrival time of positioning label self record positioning message, and T(an,ref)、
Tdn、T(am,ref)、TdmIt is both contained in positioning message, therefore T(tag,an)–T(tag,am)Value determine, so as to obtain electromagnetic wave from
Anchor point n and anchor point m arrives separately at the time difference of positioning label Tag.
By above method, the present invention need not pay close attention to anchor point, reference point and the positioning respective time system of label, you can
Determine the relation between them.
In addition, positioning label also obtains the coordinate of anchor point itself from positioning message, when anchor point is enough,
(plane positioning needs at least three anchor points, and three positioning need at least four anchor points), you can pass through above method survey calculation
Go out each anchor point and position label between electromagnetic wave propagation time it is poor, based on each two anchor point arrive separately at positioning label when
Between it is poor, finally by existing TDOA methods obtain positioning label coordinate.
It should be noted that since clock that general UWB equipment uses is common crystals or temperature-compensating crystal oscillator, because
This is there are larger frequency deviation and drift, this has certain influence for the clock synchronous effect of system, but generally these are common
The precision of crystal oscillator is both less than 20ppm, and system synchronization frequency is higher, according to calculating, it is assumed that the precision of crystal oscillator is 20ppm, then
The time error that can not be eliminated caused by crystal oscillator frequency deviation and drift is worthwhile into distance less than 100 picoseconds, is about 0.03
Rice, is acceptable for most of occasions.And the precision of the crystal oscillator or temperature-compensating crystal oscillator Jing Guo Jiao Zhun generally can be with
Less than 2ppm, caused error smaller.When it is implemented, method provided by the present invention can be by those skilled in the art based on soft
Part technology realizes automatic running flow.
Technique effect to illustrate the invention using the technical solution of the embodiment of the present invention test as follows：
Main material：
Decawave DWM1000UWB modules, STM32f103c8 microcontrollers, LCD1604 display modules.
Implementation steps：
1, the spi bus of DWM1000 and microcontroller is connected, I2C ports and the LCD1604 display modules of microcontroller connect
It connects.Draw spare in the UART ports of microcontroller.
2, the SCM program of anchor point, positioning label and reference point is write respectively.
1) program of anchor point needs to realize that control DWM1000 carries out transmitting-receiving switching, and acquisition receives message time stamp, delay hair
It penetrates, reads and change configuration data and (electromagnetic wave propagation time of reference point is arrived comprising itself, emits delay parameter, itself sits
Mark etc.), the functions such as generation positioning message.
2) program of reference point needs to realize timing emission time scale signal
3) position the program of label and need to realize and receive the positioning message that sends of anchor point, record receiving time, and by message
Decoding obtains the anchor point to the electromagnetic wave propagation time of reference point and the own coordinate of delay emission time and the anchor point,
It is poor to the electromagnetic wave propagation time between positioning label itself so as to calculate each anchor point, and further calculate positioning label itself
Coordinate.
3, anchor point (at least three) and reference point in localization region is installed, and measures the accurate of each anchor point and reference point
Distance is converted into electromagnetic wave propagation time by the distance of position and anchor point and reference point, and the transmitting of each anchor point is arranged to postpone
Time, and by anchor point coordinate, anchor point between reference point electromagnetic wave propagation time, together with dead time, pass through UART ends
Mouth is stored in each anchor point (STM32f103c8 itself has storage device)；
4, after anchor point and reference point are all started to work, positioning label is placed in localization region, you can realize positioning.
Specific example described herein is only to spirit explanation for example of the invention.The technical field of the invention
Technical staff can do various modifications or additions to described specific example or substitute in a similar way, but
Without departing from spirit of the invention or beyond the scope of the appended claims.
Claims (2)
1. a kind of method of time synchronization in unidirectional alignment systems of UWB lays the anchor point of several known locations in orientation range,
It is characterized in that：The reference point of known location is laid in orientation range, the UWB equipment placed in reference point possesses signal transmitting
Function, the UWB equipment placed on anchor point possess receiving and transmitting semiotic function, position the UWB equipment at label and only need to have
Receive semiotic function；The electromagnetic wave propagation time calculated by meter between each anchor point and positioning label is poor, based on every two
A anchor point arrives separately at the time difference of positioning label, obtains the coordinate of positioning label；It is poor for survey calculation electromagnetic wave propagation time,
Following operation is carried out,
Reference point timing sends timing signal；
Each anchor point stores the electromagnetic wave propagation time T that itself arrives reference point(a,ref)And respective dead time Td,
Each anchor point performs following operation,
1) anchor point state is arranged to signal reception state；
2) after anchor point receives timing signal, at the time of receiving timing signal with the time system record of oneself, the value at the moment
For Ta+T(a,ref), and positioning message is generated, when arriving the Electromagnetic Wave Propagation of reference point including at least the anchor point itself in positioning message
Between T(a,ref)With the dead time T of the anchor pointdAnd the coordinate (Xa, Ya, Za) of the anchor point itself；Wherein, TaRepresent anchor point
The electromagnetic wave propagation time T that anchor point itself arrives reference point is subtracted at the time of receiving timing signal(a,ref), i.e. reference point sends markers
During signal at the time of the time system of anchor point oneself；
3) T is waiteddAfter time, which is arranged to emission state, and then positioning message transmission is gone out；
After positioning label receives positioning message, to position T at the time of the time system of label itself record receives messaget+Trx,
Middle Trx=T(a,ref)+Td+T(tag,a), T(tag,a)Be electromagnetic wave from anchor point to positioning label propagation time, TrxRepresent timing signal
The propagation time of positioning label, T are transferred to through anchor point from reference pointtIt represents to position label oneself when reference point sends timing signal
Time system at the time of；After it will position message decoding, T is obtained(a,ref)With Td。
2. according to claim 1 in the unidirectional alignment systems of UWB time synchronization method, it is characterised in that：Survey calculation electricity
The electromagnetic wave propagation time difference, realization method is as follows,
If being respectively anchor point n and anchor point m there are two anchor point, after positioning label receives the positioning message of the two anchor points, pass through
The time synchronization problem between following operation solution anchor point is performed, obtain each anchor point and positions the Electromagnetic Wave Propagation between label
Time difference,
1) when receiving the positioning message that anchor point n is sent, at the time of the positioning message of record anchorage n transmittings reaches positioning label,
Tan_rx=Tt+T(an,ref)+Tdn+T(tag,an)
Wherein, T(an,ref)、Tdn、T(tag,an)Respectively anchor point n to the electromagnetic wave propagation time of reference point, anchor point n wait when
Between, anchor point n to positioning label electromagnetic wave propagation time, TtRepresent to position when reference point sends timing signal label oneself when
Between system at the time of,
Then have,
T(tag,an)=Tan_rx–Tt–T(an,ref)–Tdn
2) when receiving the positioning message that anchor point m is sent, at the time of the positioning message of record anchorage m transmittings reaches positioning label,
Tam_rx=Tt+T(am,ref)+Tdm+T(tag,am)
Wherein, T(am,ref)、Tdm、T(tag,am)Respectively anchor point m to the electromagnetic wave propagation time of reference point, anchor point m wait when
Between, anchor point m to positioning label electromagnetic wave propagation time, TtRepresent to position when reference point sends timing signal label oneself when
Between system at the time of,
Then have,
T(tag,am)=Tam_rx–Tt–T(am,ref)–Tdm
3) calculate electromagnetic wave and arrive separately at time difference of positioning label Tag from anchor point n and anchor point m and be,
T(tag,an)–T(tag,am)=Tan_rx–Tt–T(an,ref)–Tdn–(Tam_rx–Tt–T(am,ref)–Tdm)
=Tan_rx–Tam_rx–T(an,ref)–Tdn+T(am,ref)+Tdm
Wherein, Tan_rx、Tam_rxIt is obtained by the arrival time of positioning label self record positioning message, and T(an,ref)、Tdn、
T(am,ref)、TdmIt is both contained in positioning message, therefore T(tag,an)–T(tag,am)Value determine, so as to obtain electromagnetic wave from anchor point
N and anchor point m arrives separately at the time difference of positioning label Tag.
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