CN108235427B - Method for measuring Tof and Tdoa - Google Patents
Method for measuring Tof and Tdoa Download PDFInfo
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Abstract
The invention relates to a method for measuring Tof and Tdoa, which initiates one-time request-response-re-response type communication between a communication main anchor node and a label node, and carries out the following operations in the communication process: the tag node sets or measures the time from receiving the request data packet to sending the response data packet, each auxiliary anchor node measures the time from receiving the request data packet sent by the communication main anchor node to receiving the response data packet sent by the tag node, and each auxiliary anchor node measures the time from receiving the request data packet sent by the communication main anchor node to receiving the re-response request data packet sent by the communication main anchor node. And finally, calculating the propagation time from the communication main anchor node to the label node, the propagation time from the label node to the auxiliary anchor node of the response data packet, and the time difference from the main anchor node to the auxiliary anchor node of the two-time request data packet. The method has the advantages of high positioning speed, low positioning cost and high positioning precision, and is particularly suitable for positioning equipment in a wireless network in an indoor positioning system.
Description
Technical Field
The invention relates to a method for measuring Tof and Tdoa, in particular to a measuring method for providing a technical basis for node positioning of a wireless sensor network or node positioning of wireless access equipment, and belongs to the technical field of signal detection.
Background
In daily life and production processes, the geographic position information of the wireless equipment is required to be measured frequently, and the more accurate the measured instantaneous phase, the better the application effect is. The ToF distance measuring method is a two-way distance measuring technology, and mainly utilizes the flight time of signals back and forth between two asynchronous transceivers to measure the distance between nodes, so that the positioning of one node needs a plurality of times of Tof measurement to reach the data required by the positioning. Unlike TOA, the conventional TDOA (time difference of arrival) is to determine the position of a mobile station by detecting the time difference of arrival of signals at two base stations, not the absolute time of arrival, and a node to be located can complete the location by only sending information once during the location process, but this also increases the clock synchronization requirement for the equipment. The applied patent 201710256773 mainly uses the communication master anchor node to measure the time from the communication master anchor node to the tag, and needs to obtain data at three nodes, namely the communication master anchor node, the tag and the auxiliary anchor node. Therefore, a measurement method capable of shortening the positioning time and ensuring the measurement accuracy is required.
Disclosure of Invention
The invention aims to: aiming at the defects in the prior art, a method for measuring Tof and Tdoa is provided, the time from a main anchor node to a label is measured by the time that a secondary anchor node receives two request data packets, and compared with the prior art, the method not only can shorten the positioning time, but also can reduce the system redundancy; meanwhile, errors of measured data can be reduced, and the measurement precision is guaranteed.
In order to achieve the above object, the present invention provides a method for measuring Tof and Tdoa, wherein a positioning system comprises a tag node to be positioned and at least three anchor nodes, the anchor nodes comprise at least one communication primary anchor node and at least two secondary anchor nodes, the communication primary anchor node performs bidirectional communication with the tag node, and the secondary anchor nodes are used for monitoring the communication primary anchor node and the tag node, and the method comprises the following steps:
step 1), selecting one anchor node which is kept connected with the label node as a communication main anchor node, taking the other anchor nodes as auxiliary anchor nodes, and initiating one-time request-response-re-response type communication between the communication main anchor node and the label node:
step 1.1), the communication master anchor node sends a request data packet;
step 1.2), the tag node and the auxiliary anchor node receive a request data packet sent by the communication main anchor node;
step 1.3), the label node sends out a response data packet;
step 1.4), the communication main anchor node and the communication auxiliary anchor node receive response data packets sent by the label node;
step 1.5), the communication master anchor node sends a re-response request data packet;
step 1.6), the tag node and the auxiliary anchor node receive a re-response request data packet sent by the communication main anchor node; a re-response request data packet sent by the communication master anchor node is used as a request data packet for next round of positioning communication, and the re-response request data packet contains a label address for next round of positioning;
step 2), in the process of request-response-re-response type communication between the communication main anchor node and the tag node, the tag node sets or measures the time from receiving the request data packet to sending the response data packet and the time from sending the response data packet to receiving the re-response request data packet from the communication main anchor node; the tag node places the time from the request data packet reception to the response data packet transmission in the response data packet so as to facilitate the calculation of the auxiliary anchor node; when the time from receiving the request packet to sending the response packet is a set value, the set value may not be transmitted through the network; the communication main anchor node sets or measures the time from receiving the response data packet to sending the re-response data packet, and places the time from receiving the response data packet to sending the re-response data packet into the re-response data packet so as to facilitate the calculation of the auxiliary anchor node; when the time from receiving the response packet to sending the re-response packet is a set value, the set value can be transmitted without passing through the network;
step 3), in the process of request-response-re-response type communication between the communication main anchor node and the label node, each auxiliary anchor node measures the time from receiving the request data packet sent by the communication main anchor node to receiving the response data packet sent by the label node and the time from receiving the request data packet sent by the communication main anchor node to receiving the re-response request data packet sent by the communication main anchor node; the auxiliary anchor node only receives two request data packets sent by the communication main anchor node and response data packets sent by the label node in the communication process, and measures and records the time from receiving the two request data packets sent by the communication main anchor node to receiving the response data packets sent by the label node;
step 4), calculating the propagation time from the communication main anchor node to the label node and the propagation time from the label to each auxiliary anchor node of the response data packet according to the geographic coordinates of each anchor node or the distance between each anchor node;
the method for calculating the propagation time from the communication master anchor node to the label node comprises the following steps:
the propagation time from the communication master anchor node to the tag node is (the time from the sub anchor node receiving the request data packet sent by the communication master anchor node to receiving the re-response request data packet sent by the communication master anchor node-the time from the tag node receiving the request data packet to sending the response data packet-the time from the communication master anchor node receiving the response data packet to sending the re-response data packet)/2;
for each auxiliary anchor node, the propagation time from the label node to the auxiliary anchor node is calculated as follows:
step 4.1), calculating the propagation time from the auxiliary anchor node to the main communication anchor node according to the geographical coordinates of the main communication anchor node and the auxiliary anchor node or the distance between the main communication anchor node and the auxiliary anchor node;
step 4.2), the propagation time from the tag node to the auxiliary anchor node is the time from the auxiliary anchor node to receive the request data packet sent by the communication main anchor node to receive the response data packet sent by the tag node + the propagation time from the auxiliary anchor node to the communication main anchor node-the propagation time from the communication main anchor node to the tag node-the time from the tag node to receive the request data packet to send the response data packet;
generating the propagation time difference between the response data packet sent by the label node and any two anchor nodes; the calculation method is as follows:
and for the two involved anchor nodes, respectively obtaining the propagation time from the label node to the anchor nodes and then carrying out difference operation.
Preferably, the following method is adopted to solve the clock stability problem of each anchor node and each label node:
the communication main anchor node periodically sends a broadcast data packet or sends the broadcast data packet containing sending time at least twice, and the tag node or the auxiliary anchor node calculates the following according to the arrival time of the two received broadcast data packets:
the frequency ratio factor is the arrival time difference of two broadcast data packets received by the tag node or the auxiliary anchor node/the transmission time difference of the communication main anchor node extracted from the two broadcast data packets by the tag node or the auxiliary anchor node; if the tag node sets the time from the request data packet receiving to the response data packet sending, the tag node multiplies the frequency ratio factor to correct on the basis of the set data;
if the tag node measures the time from the request data packet reception to the response data packet transmission, the tag node divides the measured data by the frequency ratio factor to correct the measured data;
and when the secondary anchor node measures the time parameter, dividing the measured data by the frequency ratio factor for correction.
Preferably, the measured propagation times are corrected for air refractive index, radio wave free space attenuation, circuit delays, and antenna delays.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1) the traditional Tof technology needs to carry out Tof measurement for many times when node positioning is carried out, and is tedious and redundant, but the method adopted by the invention utilizes geographic information, and can finish the acquisition and calculation of the propagation time between all anchor nodes and label nodes under the condition that the communication main anchor node only needs to send a request data packet once, the label node sends a response data packet once and the communication main anchor node sends a response request data packet once again, thereby greatly shortening the positioning time.
2) The traditional Tdoa technology needs strict clock synchronization when node positioning is carried out, and the method adopted by the invention solves the clock synchronization problem of the label node and the communication main anchor node by utilizing a method of sending data packets for more times. For the auxiliary anchor node, the clock synchronization of the auxiliary anchor node can be solved by using the known fixed positions of the communication main anchor node and the auxiliary anchor node and the clock frequency ratio of the communication main anchor node, and the method can measure more accurately without strict clock synchronization.
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The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic representation of the Tof and Tdoa measurements performed on 1 tag using the present invention.
Fig. 2 is a schematic diagram of Tof and Tdoa measurements on 2 tag nodes using the present invention.
Detailed Description
The embodiment provides a method for measuring Tof and Tdoa in a positioning system, wherein the positioning system comprises a tag node to be positioned and at least three anchor nodes. The anchor node comprises at least one communication primary anchor node connected with the label node and at least two secondary anchor nodes. The communication main anchor node carries out bidirectional communication with the label node, and the auxiliary anchor node plays a role in monitoring in the system and is used for monitoring the communication main anchor node and the label node.
Fig. 1 is a schematic diagram of Tof and Tdoa measurement of 1 tag node by using the present invention, and the specific steps are as follows:
the communication main anchor node initiates one-time request-response-re-response type communication with the label according to the label address, namely the communication main anchor node sends a request data packet 1, and the label node and each auxiliary anchor node receive the request data packet 1 sent by the communication main anchor node; secondly, the label node sends a response data packet 2; thirdly, the communication main anchor node and each auxiliary anchor node receive a response data packet 2 sent by the label node; then, the communication main node sends a re-response request data packet 3, and the re-response request data packet 3 is also used as a request data packet of next round of positioning communication; finally, the tag node and each secondary node receive a re-response request packet 3 sent by the primary communication node.
In the process of communication of a main anchor node and a label node in a request-response-re-response type communication process, the time (T) from the time when a request data packet 1 is received to the time when a response data packet 2 is sent is firstly received for the label nodereply1) And the time (T) from the time when the communication master anchor node receives the response packet from the tag node to the time when the communication master anchor node transmits the re-response request packetreply2) Measurement is carried out if Treply1And Treply2In the case of the set value, the two values may not be transmitted through the network.
For each sub-anchor node i, the time (T) from the request data packet sent by the communication main anchor node to the response data packet 2 sent by the receiving label nodedi) And the time (Ti) from the reception of the request packet sent by the communication master anchor node to the reception of the re-response request packet 3 sent by the communication master anchor node is measured for each of the sub-anchor nodes i.
i represents the ith auxiliary anchor node participating in positioning, and i is more than or equal to 2. Fig. 1 only shows one auxiliary anchor node, and the processing modes of other anchor nodes are the same as that of the auxiliary anchor node i.
The method for calculating the propagation time from the communication master anchor node to the label node comprises the following steps:
communicating a master anchor node to a tag node propagation time (T)p) Time (Ti) from the time when the sub-anchor node i receives the request packet 1 sent by the communication master anchor node to the time when the sub-anchor node i receives the re-response request packet 3 sent by the communication master anchor node — T from the time when the tag node receives the request packet 1 to the time when the response packet 2 is sent (T)reply1) Time from the communication master anchor node receiving the response packet from the tag node to sending the secondary request packet(s) (ii)Treply2))/2。
Time (T) from when the tag node receives the request packet 1 to when it transmits the response packet 2reply1) And the time (T) from the tag node sending the response packet 2 to the receipt of the re-response request packet 3 from the correspondent master anchor noderound2) The tag node measures that when the time from the tag receiving the request packet to the sending of the response packet and the time from the communication master anchor node receiving the response packet to the sending of the re-response packet are both set values, the two values can be transmitted without passing through the network.
The method for calculating the propagation time from the auxiliary anchor node i to the label node is as follows:
the auxiliary anchor node can only receive two request data packets (a request data packet 1 and a re-response request data packet 3) sent by the communication main anchor node and a response data packet 2 sent by the tag node in the whole communication process, and the time from receiving the two request data packets sent by the communication main anchor node to receiving the response data packet 2 sent by the tag node is measured and recorded. The sum of the time and the propagation time converted from the distance between the communication main anchor node and the auxiliary anchor node represents the time from the communication main anchor node to the auxiliary anchor node to receive the response data packet sent by the label node, and the time from the communication main anchor node to send the request data packet to the auxiliary anchor node to receive the response data packet sent by the label node can be further decomposed into the propagation time from the communication main anchor node to the label node, the time from the label node to receive the request data packet to send the response data packet and the propagation time from the label node to the auxiliary anchor node. The propagation time from the communication master anchor node to the tag node is calculated by the slave anchor node, and the time from the tag node receiving the request data packet to sending the response data packet is a set time (the time is obtained through measurement), so that the propagation time from the tag node to the slave anchor node can also be directly obtained through calculation.
Since the positions of the communication main anchor node and the auxiliary anchor node i are fixed, the propagation time of the auxiliary anchor node i and the communication main anchor node i can be calculated according to the geographical coordinates of the communication main anchor node and the auxiliary anchor node i or the distance between the anchor nodes. The propagation time (T) of the secondary anchor node i to the tag nodePi) The time (Tdi) from the sub anchor node i to the sub anchor node i for receiving the request data packet sent by the communication main anchor node to the response data packet sent by the receiving label node plus the propagation time (T) converted by the distance between the communication main anchor node and the sub anchor node iCi) -communicating the propagation time (T) of the master anchor node to the tag nodep) -the time (T) from the reception of the request packet by the tag node to the transmission of the response packetreply1)。
Wherein the propagation time (T) from the anchor node to the tag node is communicatedp) Resolving and obtaining by the auxiliary anchor node; time (T) from the time when the tag node receives the request packet to the time when the response packet is sentreply1) Measuring or setting by the label node; communication of distance-converted propagation time (T) between primary anchor node and secondary anchor node iCi) Calculating and obtaining geographic coordinates of the communication main anchor node and the auxiliary anchor node i or a distance between the communication main anchor node and the auxiliary anchor node i; the time (T) from the sub-anchor node i receiving the request data packet sent by the communication main anchor node to receiving the response data packet sent by the label nodedi) The measurement is made by the secondary anchor node i.
Time (T) from the time when the tag node receives the request packet to the time when the response packet is sentreply1) And the time (T) from the time when the communication master anchor node receives the response packet from the tag node to the time when the communication master anchor node transmits the re-response request packetreply2) The time difference can be a mutually appointed time, or the tag node places the time difference in the response data packet according to the actual receiving and sending time difference of the tag node, so that the secondary anchor node can conveniently perform related calculation.
And selecting the propagation time from the anchor node to the tag node of any two anchor nodes according to the propagation time from the anchor node to the tag node obtained in the step, and performing subtraction operation to generate the propagation time difference from the tag node to any two anchor nodes.
And acquiring the coordinates of the anchor node, the propagation time of the signal from the label node to the anchor node and/or the statistical information of the propagation time difference from the label node to the anchor node, and determining the final position estimation value of the label by adopting a TOF (time of flight), TDOA (time of flight)/TOF (time of flight) mixing algorithm.
The communication tag node has a tag address indicating its unique identity, the communication anchor node includes a tag address, a group of tag addresses or a broadcast address in the request data packet 1 or 3 sent by the communication anchor node, and the tag node confirms whether to respond or not and when to respond according to the tag address, the group of tag addresses or the broadcast address included in the request data packet 1 or 3, namely confirms a single tag node in the system or a multi-tag node in the system through the tag address.
For the tag node or the secondary anchor node, the clock stability can be solved by using the frequency ratio. The method comprises the following steps:
the communication main anchor node periodically sends a broadcast data packet or sends the broadcast data packet containing sending time at least twice, and the label or the auxiliary anchor node calculates the following according to the arrival time of the two received broadcast data packets:
and the frequency ratio factor is the arrival time difference of two broadcast data packets received by the tag node or the auxiliary anchor node/the transmission time difference of the communication main anchor node extracted from the two broadcast data packets by the auxiliary anchor node.
If the tag node sets the time from the request data packet receiving to the response data packet sending, the tag node multiplies the frequency ratio factor to correct on the basis of the set data;
if the tag node measures the time from the request data packet reception to the response data packet transmission, the tag node divides the frequency ratio factor on the basis of the measured data to correct the frequency ratio factor;
and when the auxiliary anchor node measures the time parameter, dividing the frequency ratio factor on the basis of the measured data to correct.
The corrective action may be performed on the server.
The preferred solution is to use a high precision clock for each module without calculating the frequency ratio.
Because the output radio frequency signal generated by the radio frequency chip enters the medium through the amplifying circuit and the antenna, the radio frequency signal received from the medium enters the radio frequency chip after passing through the antenna and the conditioning circuit, the propagation of the signal in the circuit and the antenna needs time, and the measurement result is corrected by circuit delay and antenna delay to obtain a more accurate measurement result.
Fig. 2 is a schematic diagram of performing Tof and Tdoa measurements on 2 tag nodes by using the present invention, and details of the process are not repeated.
The conventional Tof-based positioning technology has a disadvantage of long positioning time due to the adoption of multiple ranging, and the conventional Tdoa-based positioning technology has a disadvantage of high positioning cost due to the need of a high-precision clock.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (3)
1. A method for measuring Tof and Tdoa is provided, a positioning system comprises a label node needing positioning and at least three anchor nodes, the anchor nodes comprise at least one communication main anchor node and at least two auxiliary anchor nodes, the communication main anchor node carries out bidirectional communication with the label node, the auxiliary anchor nodes are used for monitoring the communication main anchor node and the label node, and the method is characterized by comprising the following steps:
step 1), selecting one anchor node which is kept connected with the label node as a communication main anchor node, taking the other anchor nodes as auxiliary anchor nodes, and initiating one-time request-response-re-response type communication between the communication main anchor node and the label node:
step 1.1), the communication master anchor node sends a request data packet;
step 1.2), the tag node and the auxiliary anchor node receive a request data packet sent by the communication main anchor node;
step 1.3), the label node sends out a response data packet;
step 1.4), the communication main anchor node and the communication auxiliary anchor node receive response data packets sent by the label node;
step 1.5), the communication master anchor node sends a re-response request data packet;
step 1.6), the tag node and the auxiliary anchor node receive a re-response request data packet sent by the communication main anchor node; a re-response request data packet sent by the communication master anchor node is used as a request data packet for next round of positioning communication, and the re-response request data packet contains a label address for next round of positioning;
step 2), in the process of request-response-re-response type communication between the communication main anchor node and the tag node, the tag node sets or measures the time from receiving the request data packet to sending the response data packet and the time from sending the response data packet to receiving the re-response request data packet from the communication main anchor node; the tag node places the time from the request data packet reception to the response data packet transmission in the response data packet so as to facilitate the calculation of the auxiliary anchor node; when the time from receiving the request packet to sending the response packet is a set value, the set value may not be transmitted through the network; the communication main anchor node sets or measures the time from receiving the response data packet to sending the re-response data packet, and places the time from receiving the response data packet to sending the re-response data packet into the re-response data packet so as to facilitate the calculation of the auxiliary anchor node; when the time from receiving the response packet to sending the re-response packet is a set value, the set value can be transmitted without passing through the network;
step 3), in the process of request-response-re-response type communication between the communication main anchor node and the label node, each auxiliary anchor node measures the time from receiving the request data packet sent by the communication main anchor node to receiving the response data packet sent by the label node and the time from receiving the request data packet sent by the communication main anchor node to receiving the re-response request data packet sent by the communication main anchor node; the auxiliary anchor node only receives two request data packets sent by the communication main anchor node and response data packets sent by the label node in the communication process, and measures and records the time from receiving the two request data packets sent by the communication main anchor node to receiving the response data packets sent by the label node;
step 4), calculating the propagation time from the communication main anchor node to the label node and the propagation time from the label to each auxiliary anchor node of the response data packet according to the geographic coordinates of each anchor node or the distance between each anchor node;
the method for calculating the propagation time from the communication master anchor node to the label node comprises the following steps:
propagation time from the communication master anchor node to the tag node = (time from the sub-anchor node receiving a request data packet sent by the communication master anchor node to receiving a re-response request data packet sent by the communication master anchor node-time from the tag node receiving the request data packet to sending a response data packet-time from the communication master anchor node receiving the response data packet to sending the re-response data packet)/2;
step 4.1), calculating the propagation time from the auxiliary anchor node to the main communication anchor node according to the geographical coordinates of the main communication anchor node and the auxiliary anchor node or the distance between the main communication anchor node and the auxiliary anchor node;
step 4.2), the propagation time from the tag node to the auxiliary anchor node = the time from the auxiliary anchor node to receive the request data packet sent by the communication main anchor node to receive the response data packet sent by the tag node + the propagation time from the auxiliary anchor node to the communication main anchor node-the propagation time from the communication main anchor node to the tag node-the time from the tag node to receive the request data packet to send the response data packet;
generating the propagation time difference between the response data packet sent by the label node and any two anchor nodes; the calculation method is as follows:
and for the two involved anchor nodes, respectively obtaining the propagation time from the label node to the anchor nodes and then carrying out difference operation.
2. The method of measuring Tof and Tdoa according to claim 1, wherein: the following method is adopted to solve the problem of clock stability of each anchor node and each label node:
the communication main anchor node periodically sends a broadcast data packet or sends the broadcast data packet containing sending time at least twice, and the tag node or the auxiliary anchor node calculates the following according to the arrival time of the two received broadcast data packets:
the frequency ratio factor = arrival time difference of two broadcast data packets received by the tag node or the auxiliary anchor node/transmission time difference of the communication main anchor node extracted from the two broadcast data packets by the tag node or the auxiliary anchor node;
if the tag node sets the time from the request data packet receiving to the response data packet sending, the tag node multiplies the frequency ratio factor to correct on the basis of the set data;
if the tag node measures the time from the request data packet reception to the response data packet transmission, the tag node divides the measured data by the frequency ratio factor to correct the measured data;
and when the secondary anchor node measures the time parameter, dividing the measured data by the frequency ratio factor for correction.
3. The method of measuring Tof and Tdoa according to claim 1, wherein: the measured propagation times were corrected for air refractive index, radio wave free space attenuation, circuit delays, and antenna delays.
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