CN108490391A - Based on the new indoor positioning system and localization method for waking up anchor point in turn - Google Patents
Based on the new indoor positioning system and localization method for waking up anchor point in turn Download PDFInfo
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- CN108490391A CN108490391A CN201810181803.XA CN201810181803A CN108490391A CN 108490391 A CN108490391 A CN 108490391A CN 201810181803 A CN201810181803 A CN 201810181803A CN 108490391 A CN108490391 A CN 108490391A
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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
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
Abstract
The invention discloses a kind of based on the new indoor localization method for waking up anchor point in turn, UWB controller modules are made in this method, the module is using the mechanism for waking up UWB positioning anchor points in turn, the module only wakes up a UWB positioning anchor point job every time, allow label to be measured in turn be waken up UWB positioning anchor point foundation communicate, it is always ensured that label to be measured is only established with a UWB positioning anchor point all the time to communicate to connect, other positioning anchor points are now at dormant state.The program is it is possible to prevente effectively from cause the error of acquisition positional parameter due to the co-channel interference between UWB positioning anchor points, so as to improve the precision of indoor positioning.
Description
Technical field：
The present invention relates to a kind of based on the new indoor positioning system and localization method that wake up anchor point in turn, and it is fixed to belong to wireless indoor
Position technical field.
Background technology：
In recent years, short-range radio technology and WLAN high speed developments start with wireless technology carry out positioning lead
Boat.Accurate indoor positioning all has very important significance for public safety, business application and Military Application.However room
Interior positioning surface faces complicated communication environments, and the material institute that room unit design is different, building uses is different all to cause signal to pass
It broadcasts loss and causes larger fluctuating with the variation of environment.Indoor environment is extremely complex under normal conditions, and signal is propagated can be by
To the blocking of the barriers such as wall, partition board, ceiling, cause signal that reflection, refraction, diffraction phenomena occurs, transmitting signal passes through
Mulitpath reaches receiving terminal with the different time, multipath propagation phenomena and non line of sight effect occurs so that indoor positioning is great
Challenge.Indoor positioning refers to realizing position positioning in environment indoors, mainly uses wireless telecommunications, base station location, inertial navigation fixed
The multiple technologies such as position are integrated to form a set of indoor location locating system, to realize the position indoors in space such as personnel, object
Set monitoring.
It is different according to the requirement to indoor positioning, different location technologies may be used.Currently, domestic and international researchers carry
Go out the indoor positioning technologies such as bluetooth, Wi-Fi, infrared ray, RFID, WLAN, ultra wide band, ultrasonic wave and application system, but not
Same indoor positioning technologies have certain application to limit to according to its positioning performance, and there are no a kind of generalization technologies can meet currently
All indoor positioning demands for services.Wherein, super-broadband tech possesses extremely wide electromagnetic spectrum, and signal bandwidth is very big, receives multipath
Can be easily separated, anti fading performance is good, penetration capacity, fine resolution, precision ranging, anti-multipath and it is anti-interference etc. have it is only
Special advantage, system realize with low complex degree, low-power consumption, low cost potentiality, can realize very high positioning accuracy, than
Relatively be suitble to indoor positioning scene, from ultra wide band in terms of existing technology have become the most promising technical solution of indoor positioning it
One.
Being disclosed in the information of the background technology part, it is only intended to increase understanding of the overall background of the invention, without
It should be considered as recognizing or implying in any form that information composition has been the existing skill well known to persons skilled in the art
Art.
Invention content：
The purpose of the present invention is to provide a kind of based on the new indoor positioning system for waking up anchor point in turn, above-mentioned existing to overcome
There is the defects of technology.
To achieve the above object, the present invention provides a kind of based on the new indoor positioning system for waking up anchor point in turn, packet
It includes label to be measured, UWB positioning anchor point, UWB controller modules, new algorithm and realizes module；
The label to be measured is a kind of label of UWB pulse signals, for being communicated with the positioning anchor point being waken up；
UWB positions anchor point：
Sleep block, for receiving the activation instruction data for encouraging module to send in UWB controller modules, after positioning anchor point activation
It is communicated with label to be measured；
Data reception module, the positional parameter information data sent for receiving label；
Data forwarding module, the data forwarding for that will receive is to communication module；
Communication module gives the data forwarding of reception to UWB controller module data reception modules；
Power supply module, for providing power supply for positioning anchor dot system；
The UWB controller modules include：
Controller drive module, the co-ordination for driving entire UWB controller modules are the brains of UWB controller modules；
Communication module, for new algorithm to be realized that the position coordinates of the calculated label to be measured of module are transmitted to server admin and put down
Platform；
UWB management modules, the working condition for directly coordinating control UWB positioning anchor points, is the core in UWB controller modules
Module；
The new algorithm realizes that module is the condition that UWB controller modules can normally play its function, is to realize to treat mark
Sign the module of position coordinates parsing.
It is proposed by the present invention a kind of based on the new indoor localization method for waking up anchor point in turn, in UWB controller modules
Excitation module goes wake-up UWB positioning anchor point work to allow positioning anchor point and label undetermined to establish communication in turn with this in turn, establishes and leads to
Data transmission is completed after letter connection, positioning anchor point immediately enters dormant state, waits for the excitation of next time to wake up, with this, to protect
Only there are one positioning anchor point and the real-time One-to-one communications of label undetermined always for card.It can be solved by positioning anchor by the above method
Caused by co-channel interference between point the problems such as measurement error, to improve the accuracy of indoor positioning.
The technical solution that the present invention further limits is：
Preferably, include following module in above-mentioned technical proposal, inside UWB management modules：
Scan module positions the number of anchor point for UWB in scanning area and identifies the identification number of each base station；
Module is encouraged, activation instruction data are sent for positioning the sleep block in anchor point to UWB in turn；
Data reception module, the data parameters uploaded for receiving UWB positioning anchor point communication modules；
Range finder module, for calculating label to be measured to positioning anchor point using the algorithm having proposed according to the positional parameter of upload
Distance.
It is a kind of to be controlled based on the new indoor localization method for waking up anchor point in turn, including label to be measured, UWB positioning anchor point, UWB
Device module processed, new algorithm realize module；Label to be measured is a kind of UWB pulse signals label；It includes arteries and veins that UWB, which positions anchor module,
Rush signal receiving module, data screening module, data analysis forwarding module, communication module, sleep block, power supply module；UWB is controlled
Device module processed includes controller drive module, communication module, UWB management modules, wherein UWB management modules include scan module,
Encourage module, data reception module, range finder module；
Realize treat mark label indoor positioning the specific steps are：
S1, all UWB that region is scanned by the scan module of UWB management modules in UWB controller modules position anchor point
Number and obtain the identification code of base station；
Sleep block in S2, UWB controller module in the sequential anchor point to positioning of the excitation module of UWB management modules is sent
Excitation instruction, activation positioning anchor point are allowed in running order, with the transmission for completing data after label communication, position anchor point
Dormant state is immediately entered, the activation instruction of next time is waited for；
The positional parameter data obtained with label communication undetermined are uploaded to UWB controllers by S3, positioning anchor point by communication module
Data reception module in module in UWB management modules；
The data received are sent to ranging mould by the data reception module in S4, UWB controller module in UWB management modules
Block；
Range finder module in S5, UWB controller module in UWB management modules calculates to be measured according to the positional parameter received
Label and the distance between the UWB positioning anchor points being waken up this moment；
S6 will calculate label to be measured and be transmitted to new algorithm realization mould with the distance between the UWB positioning anchor points being waken up this moment
It is first saved in block, and does primary receive and record, three distance values are obtained until reception record reaches 3 times；
S7, new algorithm realize distance of the module according to label to be measured to three positioning anchor points, and the position for calculating label to be measured is sat
Mark；
Calculated label position coordinate to be measured is uploaded to location-server by S8 by communication module in UWB controller modules
Management platform, new algorithm, which is realized, immediately is purged in module to receiving data.
Preferably, in above-mentioned technical proposal, step S6 is specially：Due to UWB positioning anchor point be in turn with label to be measured into
Row communication, complete the positioning anchor point that primary communication is measured by range finder module in UWB controller modules to label to be measured away from
It is first saved from being transmitted in new algorithm realization module, and does primary receive and record；Step S7 is specially：Wait for other two
UWB positions anchor point and the distance test of label to be measured is completed and is uploaded to new algorithm realization module, by three labels to anchor point
The coordinate of distance and anchor point, the position coordinates of label to be measured can be calculated in conjunction with existing algorithmic formula；Step S8 is specific
For：Obtained coordinate information is forwarded by the communication module in UWB controller modules；New algorithm is realized in module three times immediately
Record is eliminated, and is waited for the arrival of the data of next round and is done lower record.
Compared with prior art, the present invention has the advantages that：
UWB controller modules are used in this method, for the module using the mechanism for waking up UWB positioning anchor points in turn, the module is every
It is secondary to only wake up UWB positioning anchor point work, allow label to be measured in turn communicate with the UWB positioning anchor point foundation being waken up, the beginning
Ensure that label to be measured is only established with a UWB positioning anchor point all the time eventually to communicate to connect, other positioning anchor points are now at stopping
Dormancy state.The program is it is possible to prevente effectively from cause the mistake of acquisition positional parameter due to the co-channel interference between UWB positioning anchor points
Difference, so as to improve the precision of indoor positioning.
Description of the drawings：
The total system frame diagram of Fig. 1 present invention；
The positioning system fundamental diagram of Fig. 2 present invention；
The positioning system work flow diagram of Fig. 3 present invention.
Specific implementation mode：
Below to the present invention specific implementation mode be described in detail, it is to be understood that protection scope of the present invention not by
The limitation of specific implementation mode.
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " comprising " or its change
It changes such as "comprising" or " including " etc. and will be understood to comprise stated element or component, and do not exclude other
Element or other component parts.
As shown in Figure 1, the total system frame diagram of the present invention, a kind of based on the new indoor positioning side for waking up anchor point in turn
Method.Indoors position in, due to the complexity of indoor environment, it is proposed by the present invention allow positioning anchor point in turn with label communication to be measured,
Data transmission is completed after establishing communication connection, positioning anchor point immediately enters dormant state, and the excitation of next time is waited for wake up, with
This, to ensure that only there are one positioning anchor point and the real-time One-to-one communication of label undetermined, each communications positioned in anchor point always
Module is all a kind of communication of UWB wireless pulse signals, and communication module is by respective with label communication to be measured data
UWB management modules in UWB controller modules are uploaded to, each module mutually cooperates each positioning anchor in UWB management modules
The parameter that point uploads carries out arithmetic analysis calculating, and the position coordinates for obtaining label to be measured upload to router by Wi-Fi module,
It is forwarded by router, so as to complete the positioning of mark label indoor location is treated.It can be very good to solve by the above method
Certainly as caused by the co-channel interference between UWB positioning anchor points the problems such as measurement error, so as to improve the essence of indoor positioning
Exactness.
As shown in Fig. 2, each module fundamental diagram of the present invention.It is a kind of to be positioned based on the new indoor for waking up anchor point in turn
Method, it is characterised in that the framework of the localization method includes label to be measured, UWB positioning anchor point, UWB controller modules, new
Algorithm realizes module；The label to be measured is a kind of UWB pulse signals label；The UWB positioning anchor modules include arteries and veins
Rush signal receiving module, data screening module, data analysis forwarding module, communication module, sleep block, power supply module；It is described
UWB controller modules include controller drive module, communication module, UWB management modules, wherein, and UWB management modules include scanning
Module, excitation module, data reception module, range finder module.It cooperates between each module, it is common to complete to treat mark label interior
The positioning of position.
The key function of the module declaration of positioning system and each module includes：
（1）A kind of new indoor localization method based on wake-up anchor point in turn, the label to be measured include：
Label to be measured is a kind of label of UWB pulse signals, for being communicated with the positioning anchor point being waken up；
（2）A kind of new indoor localization method based on wake-up anchor point in turn, the positioning anchor point include：
Sleep block：For receiving the activation instruction data for encouraging module to send in UWB controller modules；After positioning anchor point activation
It is communicated with label to be measured；
Data reception module, the positional parameter information data sent for receiving label；
Data forwarding module, the data forwarding for that will receive is to communication module；
Communication module gives the data forwarding of reception to UWB controller module data reception modules；
Power supply module, for providing power supply for positioning anchor dot system.
（3）A kind of new indoor localization method based on wake-up anchor point in turn, the UWB controller modules include：
Controller drive module, the coordination for entire UWB controller modules control, and are the brains of UWB controller modules；
Communication module, for new algorithm to be realized that the position coordinates of the calculated label to be measured of module are transmitted to server admin and put down
Platform；
UWB management modules, the working condition for directly coordinating control UWB positioning anchor points, is the core in UWB controller modules
Module, internal includes following module；
Scan module for the number of the base stations UWB in scanning area and identifies the identification number of each base station；
Module is encouraged, activation instruction data are sent for positioning the sleep block in anchor point to UWB in turn；
Data reception module, the data parameters uploaded for receiving UWB positioning anchor point communication modules；
Range finder module, for calculating label to be measured to positioning anchor point using the algorithm having proposed according to the positional parameter of upload
Distance；
（4）A kind of new indoor localization method based on wake-up anchor point in turn, the new algorithm realize that module includes：
New algorithm realizes that module new algorithm realizes that module is the condition that UWB controller modules can work normally, due to UWB positioning anchors
Point is communicated with label to be measured in turn, and the primary communication of completion is determined by this that range finder module in UWB controller modules is measured
The distance of position anchor point to label to be measured is transmitted in new algorithm realization module and first saves, and does primary receive and record.So
It waits for the distance test of other two UWB positioning anchor points and label to be measured to complete and is uploaded to new algorithm realization module, by three
Label to the distance of anchor point and the coordinate of anchor point, sit by the position that label to be measured can be calculated in conjunction with existing algorithmic formula
Mark, obtained coordinate information are forwarded by the Wi-Fi module in UWB controller modules through router.New algorithm is realized immediately
Record is eliminated three times in module, is waited for the arrival of the data of next round and is done lower record.
As shown in figure 3, positioning system work flow diagram of the present invention, the workflow of localization method of the present invention are as follows：
Step 1：All UWB positioning of region is scanned by the scan module of UWB management modules in UWB controller modules
The number of anchor point and the identification code for obtaining base station；
Step 2：Sleep block of the excitation module of UWB management modules in turn into positioning anchor point is sent in UWB controller modules
Excitation instruction, activation positioning anchor point are allowed in running order, with the transmission for completing data after label communication, position anchor point
Dormant state is immediately entered, the activation instruction of next time is waited for；
Step 3：The positional parameter data obtained with label communication undetermined are uploaded to UWB controls by positioning anchor point by communication module
Data reception module in device module processed in UWB management modules；
Step 4：The data received are sent to ranging by the data reception module in UWB controller modules in UWB management modules
Module；
Step 5：Range finder module in UWB controller modules in UWB management modules is calculated according to the positional parameter received
Label to be measured and the distance between the UWB positioning anchor points being waken up this moment；
Step 6：Label to be measured will be calculated and be transmitted to new algorithm reality with the distance between the UWB positioning anchor points being waken up this moment
It is first saved in existing module, and does primary receive and record, three distance values are obtained until reception record reaches 3 times；
Step 7：New algorithm realizes distance of the module according to label to be measured to three positioning anchor points, calculates the position of label to be measured
Set coordinate；
Step 8：Calculated label position coordinate to be measured is uploaded onto the server by communication module in UWB controller modules
Management platform, new algorithm, which is realized, immediately is purged in module to receiving data..
The description of the aforementioned specific exemplary embodiment to the present invention is in order to illustrate and illustration purpose.These are retouched
It states and is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can carry out very much
Change and variation.The purpose of selecting and describing the exemplary embodiment is that explaining the specific principle and in fact of the present invention
Border is applied, so that those skilled in the art can realize and utilize a variety of different exemplary embodiment party of the present invention
Case and various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (4)
1. a kind of based on the new indoor positioning system for waking up anchor point in turn, which is characterized in that
Module is realized including label to be measured, UWB positioning anchor point, UWB controller modules, new algorithm；
The label to be measured is a kind of label of UWB pulse signals, for being communicated with the positioning anchor point being waken up；
The UWB positions anchor point：
Sleep block, for receiving the activation instruction data for encouraging module to send in UWB controller modules, after positioning anchor point activation
It is communicated with label to be measured；
Data reception module, the positional parameter information data sent for receiving label；
Data forwarding module, the data forwarding for that will receive is to communication module；
Communication module gives the data forwarding of reception to UWB controller module data reception modules；
Power supply module, for providing power supply for positioning anchor dot system；
The UWB controller modules include：
Controller drive module, the co-ordination for driving entire UWB controller modules are the brains of UWB controller modules；
Communication module, for new algorithm to be realized that the position coordinates of the calculated label to be measured of module are transmitted to server admin and put down
Platform；
UWB management modules, the working condition for directly coordinating control UWB positioning anchor points, is the core in UWB controller modules
Module；
The new algorithm realizes that module is the condition that UWB controller modules can normally play its function, is to realize to treat mark
Sign the module of position coordinates parsing.
2. according to claim 1 based on the new indoor positioning system for waking up anchor point in turn, which is characterized in that UWB is managed
It includes following module to manage inside modules：
Scan module positions the number of anchor point for UWB in scanning area and identifies the identification number of each base station；
Module is encouraged, activation instruction data are sent for positioning the sleep block in anchor point to UWB in turn；
Data reception module, the data parameters uploaded for receiving UWB positioning anchor point communication modules；
Range finder module, for calculating label to be measured to positioning anchor point using the algorithm having proposed according to the positional parameter of upload
Distance.
3. a kind of based on the new indoor localization method for waking up anchor point in turn, including label to be measured, UWB positioning anchor point, UWB controls
Device module, new algorithm realize module；The label to be measured is a kind of UWB pulse signals label；The UWB positions anchor module packet
Include pulsed signal module, data screening module, data analysis forwarding module, communication module, sleep block, power supply module；
The UWB controller modules include controller drive module, communication module, UWB management modules, wherein UWB management modules include
Scan module, excitation module, data reception module, range finder module；
Realize treat mark label indoor positioning the specific steps are：
S1, all UWB that region is scanned by the scan module of UWB management modules in UWB controller modules position anchor point
Number and obtain the identification code of base station；
Sleep block in S2, UWB controller module in the sequential anchor point to positioning of the excitation module of UWB management modules is sent
Excitation instruction, activation positioning anchor point are allowed in running order, with the transmission for completing data after label communication, position anchor point
Dormant state is immediately entered, the activation instruction of next time is waited for；
The positional parameter data obtained with label communication undetermined are uploaded to UWB controllers by S3, positioning anchor point by communication module
Data reception module in module in UWB management modules；
The data received are sent to ranging mould by the data reception module in S4, UWB controller module in UWB management modules
Block；
Range finder module in S5, UWB controller module in UWB management modules calculates to be measured according to the positional parameter received
Label and the distance between the UWB positioning anchor points being waken up this moment；
S6 will calculate label to be measured and be transmitted to new algorithm realization mould with the distance between the UWB positioning anchor points being waken up this moment
It is first saved in block, and does primary receive and record, three distance values are obtained until reception record reaches 3 times；
S7, new algorithm realize distance of the module according to label to be measured to three positioning anchor points, and the position for calculating label to be measured is sat
Mark；
Calculated label position coordinate to be measured is uploaded to location-server by S8 by communication module in UWB controller modules
Management platform, new algorithm, which is realized, immediately is purged in module to receiving data.
4. according to claim 3 based on the new indoor localization method for waking up anchor point in turn, it is characterised in that：
Step S6 is specially：Since UWB positioning anchor points are communicated with label to be measured in turn, primary communication is completed by UWB
The distance for positioning anchor point to the label to be measured that range finder module is measured in controller module is transmitted to new algorithm and realizes in module first
It saves, and does primary receive and record；Step S7 is specially：Wait for other two UWB positioning anchor point and label to be measured away from
Complete and be uploaded to new algorithm to realize module from test, by three labels to the distance of anchor point and the coordinate of anchor point, in conjunction with
Some algorithmic formulas can calculate the position coordinates of label to be measured；Step S8 is specially：Obtained coordinate information is controlled by UWB
Device mould communication module in the block forwards；New algorithm realizes that record is eliminated three times in module, waits for the number of next round immediately
According to arrival and do lower record.
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| CN115333557B (en) * | 2022-07-21 | 2024-01-16 | 深圳市纽瑞芯科技有限公司 | Wake-up transceiver system of UWB equipment |
| CN116321268A (en) * | 2023-03-06 | 2023-06-23 | 乾位智通(深圳)技术有限公司 | Detection data recording system, method and device and UWB module detection device |
| CN116321268B (en) * | 2023-03-06 | 2023-11-03 | 乾位智通(深圳)技术有限公司 | Detection data recording system, method and device and UWB module detection device |
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