CN108508404A - A kind of localization method and system based on aerial array - Google Patents
A kind of localization method and system based on aerial array Download PDFInfo
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- CN108508404A CN108508404A CN201810311606.5A CN201810311606A CN108508404A CN 108508404 A CN108508404 A CN 108508404A CN 201810311606 A CN201810311606 A CN 201810311606A CN 108508404 A CN108508404 A CN 108508404A
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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
- G01S5/0257—Hybrid positioning
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Abstract
The embodiment of the present invention provides a kind of localization method and system based on aerial array.Method includes：Based on TOA algorithms and TDOA algorithms, obtain target object between each antenna in aerial array at a distance from, form distance set；Based on the distance set, the target object is positioned.A kind of localization method and system based on aerial array provided in an embodiment of the present invention are used as blending algorithm and first carry out ranging to target object, positioned to target object further according to distance measurement result by the way that TOA algorithms and TDOA are carried out fusion.Use the accuracy height for the distance set that the blending algorithm is got, and, target object is positioned according to distance measurement result and does not use iterative algorithm, have the effect of that stronger anti-blocking object blocks, therefore finally obtained positioning result one is scheduled near the actual position of target object, sufficiently stable.Therefore, the method increase bit rates, positioning accuracy and the robustness of positioning.
Description
Technical field
The present embodiments relate to antenna field of locating technology more particularly to a kind of localization method based on aerial array and
System.
Background technology
Global Satellite Navigation System (GNSS) has wide coverage, accuracy height and good reliability etc. in an outdoor environment
Advantage.But indoors, satellite-signal is faint so that positioning accuracy is poor；Even if in outdoor, general positioning accuracy is all in rice
Grade or more.And mobile communication base station (BS) because its distribution density is low, even if using multiple base stations, passing through for three side arrival times and calculating
Distance, positioning accuracy is also at tens meters or more.
Currently, the location technology for having been used to indoor positioning includes ultra wide band, bluetooth, infrared ray, WiFi, ZigBee and penetrates
Frequency identification etc..Wherein, super-broadband tech (Ultra-wide bandwidth, UWB) can provide steady transmitting signal, the hair
Penetrating signal has stronger ability through walls and high-resolution.Also, using super-broadband tech carry out positioning have it is low in energy consumption, be
The features such as complexity of uniting is low, anti-multipath jamming ability is strong and range accuracy is high.Therefore, super-broadband tech is expected to be applied to indoor multiple
High accuracy positioning under heterocycle border, and show more superior performance.
But in practical applications, positioned that there is also some difficult points not yet to solve using super-broadband tech.For example, in profit
When being positioned with super-broadband tech, needed when being positioned usually using TDOA algorithms, but being positioned using TDOA algorithms
The coordinate of target object is solved by iterative algorithm, the velocities solved of this mode is relatively low, so that bit rates are low；
And positioning result can be made to generate very big error when antenna topology is smaller, or even cannot be restrained, this point should by deriving
Position error carat Metro lower bound under topology can prove.
Invention content
The embodiment of the present invention provides a kind of localization method and system based on aerial array, fixed in the prior art to solve
The defect that bit rate is low and positioning accuracy is low, improves bit rates and positioning accuracy.
The embodiment of the present invention provides a kind of localization method based on aerial array, including：
Based on TOA algorithms and TDOA algorithms, obtain target object between each antenna in aerial array at a distance from, composition away from
From set；
Based on the distance set, the target object is positioned.
The embodiment of the present invention provides a kind of positioning system based on aerial array, including：
Distance set acquisition module obtains every in target object and aerial array for being based on TOA algorithms and TDOA algorithms
Distance between one antenna forms distance set；
Locating module positions the target object for being based on the distance set.
A kind of localization method and system based on aerial array provided in an embodiment of the present invention, by by TOA algorithms and
TDOA carries out fusion as blending algorithm and first carries out ranging to target object, determines target object further according to distance measurement result
Position.Using the accuracy height for the distance set that the blending algorithm is got, also, target object is determined according to distance measurement result
Position does not use iterative algorithm, has the effect of that stronger anti-blocking object blocks, therefore finally obtained positioning result one is scheduled on
It is sufficiently stable near the actual position of target object.Therefore, the method increase bit rates, positioning accuracy and the Shandongs of positioning
Stick.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of localization method embodiment flow chart based on aerial array of the present invention；
Fig. 2 is ranging process schematic diagram in a kind of localization method embodiment based on aerial array of the present invention；
Fig. 3 is position fixing process schematic diagram in a kind of localization method embodiment based on aerial array of the present invention；
Fig. 4 is a kind of positioning device example structure block diagram based on aerial array of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of localization method embodiment flow chart based on aerial array of the present invention, as shown in Figure 1, this method packet
It includes：
Based on TOA algorithms and TDOA algorithms, obtain target object between each antenna in aerial array at a distance from, composition away from
From set；Based on the distance set, the target object is positioned.
The method positioned different from TOA algorithms or TDOA algorithms are used only in the prior art, the embodiment of the present invention carry
The method of confession is used as blending algorithm and first carries out ranging to target object by the way that TOA algorithms and TDOA algorithms are carried out fusion, then leads to
Distance measurement result is crossed to position target object.
The purpose of method provided in an embodiment of the present invention is to position target object.Specifically, implement this method
Hardware device be at least following two pieces：Aerial array and mobile tag.Wherein, aerial array can be located at any position, antenna
Three antennas are included at least in array；Mobile tag is set on target object, and antenna is also equipped in mobile tag.Object
Body can be crowd, unmanned trolley or the unmanned plane etc. of walking, and the embodiment of the present invention is not construed as limiting this.
Based on TOA algorithms and TDOA algorithms, according to the ultra-broadband signal mutually sent between mobile tag and aerial array
Ranging is carried out, then target object is positioned by distance measurement result.It should be noted that by distance measurement result to target object
It has used to resist during being positioned and has blocked location algorithm.Wherein, resist and block location algorithm as the solution calculation of anti-non line of sight position
Method is preferably based on the location algorithm of least square in embodiments of the present invention.
Method provided in an embodiment of the present invention is used as blending algorithm to target by the way that TOA algorithms and TDOA are carried out fusion
Object first carries out ranging, then blocks location algorithm and distance measurement result positions target object by anti-.Use the fusion
The accuracy of the distance set that algorithm is got is high, also, this it is anti-block location algorithm and be not belonging to iterative algorithm, have stronger
The effect that anti-blocking object blocks, therefore finally obtained positioning result one is scheduled near the actual position of target object, very surely
It is fixed.Therefore, the method increase bit rates, positioning accuracy and the robustness of positioning.
Based on above-described embodiment, ranging process is specifically described in the embodiment of the present invention.It is calculated based on TOA algorithms and TDOA
Method, obtain target object between each antenna in aerial array at a distance from, form distance set, further comprise：
Based on TOA algorithms, the first distance between any antenna in the target object and the aerial array is obtained；It is based on
TDOA algorithms obtain each antenna in other antennas in the aerial array and the second distance between any antenna；
According to first distance and all second distances, the target object and each antenna in other described antennas are obtained
Between third distance；And first distance and all third distances are formed into the distance set；Wherein, it is described other
Antenna is to reject remaining all antennas after any antenna in the aerial array.
The ranging process in the embodiment of the present invention is specifically described below by way of specific citing：
Radical by antenna in aerial array is preferably 4, respectively No. 1 antenna, No. 2 antennas, No. 3 antennas and No. 4 days
Line.It is preferably No. 1 antenna by " any antenna ", then " other antennas " is No. 2 antennas, No. 3 antennas and No. 4 antennas.It needs to illustrate
, all antenna clocks synchronize in aerial array.
Fig. 2 is ranging process schematic diagram in a kind of localization method embodiment based on aerial array of the present invention, such as Fig. 2 institutes
Show, mobile tag sends claim frame to aerial array, records No. 1 antenna, No. 2 antennas, No. 3 antennas and No. 4 antennas and connects respectively
Receive the time t of the claim frame1、t2、t3、t4, and calculate three groups of TDOA difference values t21=t2-t1、t31=t3-t1、t41=t4-
t1.It should be noted that the clock of four antennas synchronizes, so three groups of obtained TDOA difference values are high-precision, by three groups
TDOA difference values be multiplied by respectively the light velocity can respectively obtain claim frame reach No. 2 antennas reach the distance difference of No. 1 antenna with it
d21=c × t21, claim frame reach No. 3 antennas reach the distance difference d of No. 1 antenna with it31=c × t31, claim frame reach No. 4
Antenna reaches the distance difference d of No. 1 antenna with it41=c × t41。
No. 1 antenna sends acknowledgement frame to mobile tag, and mobile tag records the time of acknowledgement frame arrival, and to antenna array
Row send response frame, record the time that No. 1 antenna, No. 2 antennas, No. 3 antennas and No. 4 antennas are respectively received the response frame
t1n、t2n、t3n、t4n, and calculate three groups of TDOA difference values t21n=t2n-t1n、t31n=t3n-t1n、t41n=t4n-t1n.By three groups
TDOA difference values be multiplied by respectively the light velocity can respectively obtain response frame reach No. 2 antennas reach the distance difference of No. 1 antenna with it
d21n=c × t21n, response frame reach No. 3 antennas reach the distance difference d of No. 1 antenna with it31n=c × t31n, response frame reach 4
Number antenna reaches the distance difference d of No. 1 antenna with it41n=c × t41n。
Mobile tag distance d between No. 1 antenna is calculated using TOA algorithms1, then calculate twice by mobile tag to 2,3,
No. 4 antennas, to the mean value of No. 1 antenna distance difference, are respectively to obtain mobile tag to the distance of 2,3, No. 4 antennas with it：
d2=d1+(d21+d21n)/2、d3=d1+(d31+d31n)/2、d4=d1+(d41+d41n)/2.It should be noted that d1、d2、d3And d4
The collection formed is combined into the distance set mentioned in the embodiment of the present invention.
Method provided in an embodiment of the present invention is surveyed by making all antenna clocks in aerial array synchronize, and in TOA algorithms
It is measured away from TDOA is introduced in the process so that mobile tag and aerial array can be moved in 1 complete TOA ranging process
The distance of each antenna, greatly improves ranging efficiency in dynamic label to aerial array.Meanwhile clock is synchronized and can be eliminated not on the same day
Synchronous error between line so that the precision of distance measurement result greatly promotes, so that being positioned subsequently through distance measurement result
The precision of obtained positioning result greatly promotes.Also, it can be reduced due to working as in the case that aerial array has smaller topology
The influence that non line of sight measures TDOA has preferable stability can be in the feelings of the minimum topology of aerial array using the method
High-precision locating effect is also maintained under condition.
Based on above-described embodiment, the embodiment of the present invention carries out the process positioned to target object by distance measurement result
Explanation.Based on the distance set, the target object is positioned, is further comprised：
In the plane where the aerial array, using the center of the aerial array as coordinate origin, right angle seat is established
Mark system；Using the coordinate origin as the center of circle, justify by radius work of the intermediate value of the distance set；Multiple spot is carried out on the circle to adopt
Sample, for each sampled point, obtain the sampled point between each antenna in the aerial array at a distance from and composition candidate away from
From set；Based on least square method, according to all candidate distance set and the distance set, to the target object into
Row positioning.
Wherein, it is based on least square method, according to all candidate distance set and the distance set, to the target
Object is positioned, and is further comprised：
For each candidate distance set, each distance in the candidate distance set and the distance set are obtained
The mean square error of respective distances in conjunction；All mean square errors are added, it is corresponding square to obtain the candidate distance set
Error and；Obtain the corresponding mean square error of all candidate distance set and in least mean-square error and, and will described in most
Coordinate of the coordinate of small mean square error and corresponding sampled point as the target object determines the target object with realizing
Position.
The position fixing process in the embodiment of the present invention is specifically described below by way of specific citing：
It is preferably that mentioned in above-described embodiment includes No. 1 antenna, No. 2 antennas, No. 3 antennas and No. 4 by aerial array
The aerial array of this 4 antennas of antenna.In embodiments of the present invention, this 4 antennas are respectively arranged the rectangle in arbitrary size
4 apexes.
Fig. 3 is position fixing process schematic diagram in a kind of localization method embodiment based on aerial array of the present invention, such as Fig. 3 institutes
Show, in the plane where aerial array, using the center (namely center of rectangle) of aerial array as coordinate origin, establishes straight
Angular coordinate system.In the coordinate system, No. 1 antenna, No. 2 antennas, No. 3 antennas and No. 4 antennas are located at A, B, C and D point.With
B, the perpendicular bisector of 2 points of C is x-axis, and the perpendicular bisector that 2 points of A, B is y-axis.
Using coordinate origin as the center of circle, it is that radius draws circle to take the intermediate value R of distance set, and the coordinate of mobile tag is located approximately at this
On circle.Multi-point sampling is carried out on circle obtains multiple sampled point (xi,yi), i=1,2 ..., n, wherein n is sampling number.For
Each sampled point calculates the sampled point to the distance d' of each antenna1、d'2、d'3、d'4, using above-mentioned distance as a candidate away from
From set, then the sum of above-mentioned distance and the mean square error of distance set are calculated, for multiple sampled points, then there are multiple candidate distances
Set, correspondingly, there is the sum of multiple mean square errors.It is marked using the coordinate of the corresponding sampled point of the sum of least mean-square error as mobile
The position coordinates for signing (namely target object), to realize the positioning to target object.Formula is as follows：
It can be understood as it should be noted that carrying out multi-point sampling on circle：Carried out on entire circle multi-point sampling or
Multi-point sampling is carried out in partial arc section, multi-point sampling can be equal interval sampling, can also be unequal interval sampling.
Based on above-described embodiment, as a preferred embodiment, how the embodiment of the present invention is to determine that sample range carries out
Explanation.That is, further including before progress multi-point sampling on circle：
Based on the last time to the positioning result of the target object, on the circle, this sample range is determined.
It is to carry out multi-point sampling on entire circle it is understood that when to target object position for the first time,
To complete positioning.But it, can be according to the last time when second of target object progress, third time and four inferior follow-up positioning
Positioning result determines this sample range, to complete to position.
Specifically, last positioning result is recorded, this positioning result is only in upper primary positioning result (namely target
The coordinate of object or mobile tag) it scans in neighbouring window.In which it is assumed that the most fast movement velocity of mobile tag is v,
It is multiplied by the time interval τ positioned twice, as the maximum move distance of mobile tag in positioning intervals twice.Maximum is transported
Dynamic distance is converted to largest motion angle, which is window width, and general window can use 40 degree of fixed value, i.e., upper primary
It is sampled within the scope of 20 degree of positioning result or so.Therefore, it for second and later positioning result, can filter out other than window
Positioning result because complex environment or blocking for barrier can influence range accuracy, in this way by window to positioning result
The stability of location algorithm can be improved by being filtered.
Based on above-described embodiment, as a preferred embodiment, the embodiment of the present invention considers another situation, that is,
How aerial array positions target object when rotating.Multi-point sampling is carried out on the circle, is also wrapped before
It includes：
Judge whether the aerial array rotates, if it is determined that the aerial array rotates, then according to the antenna array
The rotational angle of row and last time determine this sample range to the positioning result of the target object on the circle.
Specifically, in practical applications, aerial array can be with voltuntary movement, and completes the relative positioning to mobile tag.
After aerial array had rotated angle, θ relative to a upper positioning moment, mobile tag is equal to relative antenna array and has rotated-θ,
Then-θ is also rotated in the search window at current time.The angle information that aerial array can be made full use of to rotate in this way improves
To the rate of mobile tag (namely target object) positioning.
Method provided in an embodiment of the present invention can record mobile tag relative to aerial array when positioning first time
Angle value positions next time, is scanned in this approximate angle.The ranging utilized when it should be noted that positioning next time
As a result it may change, i.e., the radius of circumference can change.The purpose for designing this searching algorithm based on " window " is, moves
The distance set of dynamic label to aerial array may have certain, and there is large error in distance all the way, this error will not lead to circumference half
The acute variation of diameter, but the result searched on circle may be caused to generate offset, therefore window can improve search rate, also can
Scope limitation is carried out to positioning result.When being solved using least square method, it is weighted using the variance of distance measurement value, it can be with
Make positioning more acurrate.The angle change information for having merged aerial array, also may make aerial array when moving can be to target
Object is quickly positioned.
Based on above-described embodiment, as a preferred embodiment, the embodiment of the present invention considers the influence of non line of sight transmission,
Distance measurement result is modified.The makeover process positions the target object between ranging and positioning, before also
Including：
According to the waveform of channel impulse response, the first ratio up to the corresponding power of diameter and the general power of the waveform is obtained；
The ratio is compared with threshold value, if the ratio is more than the threshold value, to the distance set
It is modified.
Specifically, it according to the waveform of channel impulse response (CIR), calculates first up to the corresponding power of diameter and waveform general power
Ratio, formula are as follows：Q=10 × log10(F2/ C), wherein F is that signal head reaches the corresponding amplitude of diameter, and C is receive signal total
Power.Q and preset threshold value are compared, judge whether the distance measurement result is influenced by non line of sight shelter, when than
Value thinks that signal has passed through barrier when being more than preset threshold value, therefore should subtract a ranging deviation to distance measurement result.That is,
Each distance value in distance set subtracts the ranging deviation.It should be noted that threshold value and ranging deviation be through
Test value.
Method provided in an embodiment of the present invention, by judging whether signal has passed through shelter, if so, being passed through according to experiment
It tests and distance measurement result is modified, the influence that non line of sight transmits measurement of adjusting the distance can be reduced in this way, improve range accuracy, in turn
Improve positioning accuracy.Therefore, this method is blocked largely effective in environment complicated, and a variety of non line of sight are blocked can be
It is eliminated on average, ensure that positioning result has more robustness.
It should be noted that the position fixing process in above-described embodiment got is a two-dimensional coordinate.Therefore, to described
Target object is positioned, and further includes before：
Obtain the position coordinates of the aerial array and the difference in height of the target object and the aerial array.
Specifically, it according to the difference in height of the position coordinates of aerial array and target object and the aerial array, obtains
The elevation information of target object.The two-dimensional coordinate of target object and elevation information are formed into three-dimensional coordinate, which is
The spatial position of the target object.
Based on above-described embodiment, the target object is positioned, further includes later：
Clock synchronization is carried out to each antenna in the aerial array, to be positioned next time.
Specifically, it all needs to carry out a clock synchronization operation to aerial array after positioning each time.It needs to illustrate
It is that it is synchronous that aerial array with mobile tag does not need clock.
As a preferred embodiment, the embodiment of the present invention says the hardware configuration of aerial array and mobile tag
It is bright.
Aerial array is integrated in one piece of circuit board, and (3 are included at least containing ultra wide band module, clock crystal oscillator, signal antenna
Antenna), inertial navigation module and auxiliary circuit.Mobile tag is made based on one chip microcomputer, including ultra wide band module, sheet day
Line and auxiliary circuit.
Ultra wide band module in aerial array and mobile tag is used to send in ultra-broadband signal namely above-described embodiment
The various frame signals mentioned.Signal antenna and chip aerial are used to transmitting-receiving ultra-broadband signal.Clock crystal oscillator is used for antenna array
All antennas in row are synchronized into row clock.Inertial navigation module is used to obtain the rotation acceleration of aerial array, to calculate
Rotational angle.Auxiliary circuit in aerial array and mobile tag is used to provide some miscellaneous functions, such as powers.
Mobile tag is located on the target object positioned, and target object can be crowd, unmanned trolley or the nothing of walking
Man-machine, mobile tag is attached on the front pocket or epaulet of unmanned trolley, unmanned plane or human body.
Aerial array can be placed on fixed position, realize positioning and tracking to unmanned trolley, unmanned plane and human body；It
Linear array can be placed on unmanned trolley, on unmanned plane, realize the positioning to other unmanned trolleies, unmanned plane, mobile human body.
The position of antenna in aerial array can arbitrarily adjust, as long as the position coordinates of known antenna, you can determine and move
The relative position of dynamic label.
The embodiment of the present invention provides a kind of positioning system based on aerial array, including：
Distance set acquisition module obtains every in target object and aerial array for being based on TOA algorithms and TDOA algorithms
Distance between one antenna forms distance set；
Locating module positions the target object for being based on the distance set.
It should be noted that the system of the embodiment of the present invention can be used for executing it is shown in FIG. 1 a kind of based on aerial array
The technical solution of localization method embodiment, implementing principle and technical effect are similar, and details are not described herein again.
Fig. 4 is a kind of positioning device example structure block diagram based on aerial array of the present invention, as shown in figure 4, described fixed
Position equipment include：Processor (processor) 401, memory (memory) 402 and bus 403；Wherein, the processor 401
Mutual communication is completed by the bus 403 with the memory 402；The processor 401 is for calling the storage
Program instruction in device 402, to execute the method that above-mentioned each method embodiment is provided, such as including：Based on TOA algorithms and
TDOA algorithms, obtain target object between each antenna in aerial array at a distance from, form distance set；Based on the distance set
It closes, the target object is positioned.
The embodiment of the present invention discloses a kind of computer program product, and the computer program product is non-transient including being stored in
Computer program on computer readable storage medium, the computer program include program instruction, when described program instructs quilt
When computer executes, computer is able to carry out the method that above-mentioned each method embodiment is provided, such as including：Based on TOA algorithms
With TDOA algorithms, obtain target object between each antenna in aerial array at a distance from, form distance set；Based on the distance
Set, positions the target object.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage
Medium storing computer instructs, and the computer instruction makes the computer execute the side that above-mentioned each method embodiment is provided
Method, such as including：Based on TOA algorithms and TDOA algorithms, obtain target object between each antenna in aerial array at a distance from, group
At distance set；Based on the distance set, the target object is positioned.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of localization method based on aerial array, which is characterized in that including：
Based on TOA algorithms and TDOA algorithms, obtain target object between each antenna in aerial array at a distance from, form distance set
It closes；
Based on the distance set, the target object is positioned.
2. according to the method described in claim 1, it is characterized in that, described be based on TOA algorithms and TDOA algorithms, acquisition object
Body between each antenna in aerial array at a distance from, form distance set, further comprise：
Based on TOA algorithms, the first distance between any antenna in the target object and the aerial array is obtained；
Based on TDOA algorithms, between each antenna in other antennas in the aerial array and any antenna is obtained
Two distances；
According to first distance and all second distances, obtain the target object with it is each in other described antennas
Third distance between antenna；And first distance and all third distances are formed into the distance set；
Wherein, other described antennas are to reject remaining all antennas after any antenna in the aerial array.
3. according to the method described in claim 1, it is characterized in that, described be based on the distance set, to the target object
It is positioned, is further comprised：
In the plane where the aerial array, using the center of the aerial array as coordinate origin, rectangular coordinate system is established；
Using the coordinate origin as the center of circle, justify by radius work of the intermediate value of the distance set；
Multi-point sampling is carried out on the circle, for each sampled point, obtain the sampled point with it is each in the aerial array
Distance between antenna and composition candidate distance set；
The target object is carried out according to all candidate distance set and the distance set based on least square method
Positioning.
4. according to the method described in claim 3, it is characterized in that, described be based on least square method, according to all candidates
Distance set and the distance set, position the target object, further comprise：
For each candidate distance set, obtain each distance in the candidate distance set in the distance set
The mean square error of respective distances；
All mean square errors are added, obtain the corresponding mean square error of the candidate distance set and；
Obtain the corresponding mean square error of all candidate distance set and in least mean-square error and, and will it is described it is minimum
Coordinate of the coordinate of square error and corresponding sampled point as the target object, to realize the positioning to the target object.
5. according to the method described in claim 3, it is characterized in that, described carry out multi-point sampling on the circle, also wrap before
It includes：
Based on the last time to the positioning result of the target object, on the circle, this sample range is determined.
6. according to the method described in claim 3, it is characterized in that, described carry out multi-point sampling on the circle, also wrap before
It includes：
Judge whether the aerial array rotates, if it is determined that the aerial array rotates, then according to the aerial array
Rotational angle and last time determine this sample range to the positioning result of the target object on the circle.
7. according to the method described in claim 1, it is characterized in that, described position the target object, also wrap before
It includes：
According to the waveform of channel impulse response, the first ratio up to the corresponding power of diameter and the general power of the waveform is obtained；
The ratio is compared with threshold value, if the ratio is more than the threshold value, the distance set is carried out
It corrects.
8. according to the method described in claim 1, it is characterized in that, described position the target object, also wrap before
It includes：
Obtain the position coordinates of the aerial array and the difference in height of the target object and the aerial array.
9. according to the method described in claim 1, it is characterized in that, described position the target object, also wrap later
It includes：
Clock synchronization is carried out to each antenna in the aerial array, to be positioned next time.
10. a kind of positioning system based on aerial array, which is characterized in that including：
Distance set acquisition module obtains target object and every day in aerial array for being based on TOA algorithms and TDOA algorithms
Distance between line forms distance set；
Locating module positions the target object for being based on the distance set.
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| CN109597027A (en) * | 2018-12-06 | 2019-04-09 | 清华大学 | A kind of positioning system and method based on single base station |
| CN109856595A (en) * | 2018-11-22 | 2019-06-07 | 交控科技股份有限公司 | Rail traffic positioning system and method based on UWB |
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| WO2021087784A1 (en) * | 2019-11-05 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Movable platform hovering method, movable platform and computer-readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109856595A (en) * | 2018-11-22 | 2019-06-07 | 交控科技股份有限公司 | Rail traffic positioning system and method based on UWB |
| CN109597027A (en) * | 2018-12-06 | 2019-04-09 | 清华大学 | A kind of positioning system and method based on single base station |
| CN109959923A (en) * | 2019-04-12 | 2019-07-02 | 北京航空航天大学 | A kind of unmanned plane method for tracing of the channel allocation technique based on WI-VI |
| CN109959923B (en) * | 2019-04-12 | 2021-10-15 | 北京航空航天大学 | Unmanned aerial vehicle tracking method based on WI-VI channel allocation technology |
| WO2021087784A1 (en) * | 2019-11-05 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Movable platform hovering method, movable platform and computer-readable storage medium |
| CN113556674A (en) * | 2021-04-01 | 2021-10-26 | 珠海极海半导体有限公司 | Indoor positioning method and system based on Bluetooth communication and BLE chip |
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