CN108616977A - A kind of UWB multi-point delay bearing calibrations based on least square adjustment - Google Patents
A kind of UWB multi-point delay bearing calibrations based on least square adjustment Download PDFInfo
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- H—ELECTRICITY
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- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W56/004—Synchronisation arrangements compensating for timing error of reception due to propagation delay
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Abstract
UWB (ultra wide band) multi-point delay bearing calibration based on least square adjustment that the present invention relates to a kind of, first, several equally distributed control points are chosen on ground, and acquire static data on these control points, according to the static observation data of acquisition, control point and each base station coordinates of UWB systems, in conjunction with GNSS data processing method, relative signal propagation time delay amount between each base stations UWB is solved using least square adjustment thought, to realize the time synchronization between the base stations UWB.The present invention is suitable for carrying out the UWB positioning systems of time synchronization control using sync control device for the asynchronous problem design of each base station clock in UWB positioning.In the retardation of signal propagation time between calculating each base station, the observation joint for choosing multiple control points solves, and compared with single control point solves, reduces influence of all kinds of observation errors to time delay adjustment, result of calculation is more accurate, and reliability is stronger.
Description
Technical field
The present invention relates to ultra wide band (UWB：Ultra-wide band) indoor navigation location technology data processing field, especially
It is related to a kind of time delay adjustment method synchronized for realizing clock between the base stations UWB.
Background technology
In the past few decades, the outdoor navigator fix technology of high-precision such as Global Satellite Navigation System (GNSS) is increasingly
Maturation, meter level of the precision by are increased to Centimeter Level.With the development of precision positioning technology, GNSS technologies are in the military and people
It is obtained for extensive use with field.Meanwhile the high-precision navigator fix technology under indoor environment also becomes major research aircraft
The research hotspot of structure and enterprise.Compared with outdoor positioning, the structure of indoor environment is increasingly complex, and personnel and barrier are more close
Collection, and unstable and pervasive sensor systems.Currently used indoor positioning technologies include ultra wide band (Ultra-wide
Band), radio frequency identification (Radio-Frequency Identification, RFID), infrared ray (Infrared-Ray, IR),
Ultrasonic wave (Ultrasound-Wave), bluetooth and WLAN (Wireless Local Area Networks, WLAN)
Etc. technologies.
Wherein, UWB technology be mid-twentieth century US military exploitation a kind of wireless communication technique, early years 21 century by
Step starts to turn to civil use.UWB technology has positioning accuracy high (up within 10cm), transmission rate high (up to 1Gbit/
S) the features such as, spatial content is big, low in energy consumption, good concealment, strong antijamming capability.It disclosure satisfy that some high-precision indoor positioning fields
The demand of scape, such as commercial measurement, military training, personnel's supervision, large stadium navigation field.
It is similar to the principle of satellite positioning, UWB systems be also by measuring signal by label to each base station propagation when
Between positioned.Since there are oneself independent clock source, and the not isomorphous used in the clock source of each base station in each base station
It shakes and all there is different frequency departures, which is not a constant.Therefore the label signal that each base station measures reaches
Time (Time of arrival, TOA) does not have identical time reference.If do not handled the time synchronization problem,
It will cause to observe data failure or control mistake, can not be accurately positioned.
For UWB clock synchronization issues, domestic and foreign scholars have done numerous studies.It is wherein directed to the ranging protocol of UWB mostly,
As classical round trip telemetry, asymmetric bilateral bidirectional ranging, symmetrical bilateral bidirectional ranging and some improve on this basis
Ranging protocol.Decawave companies are investigated except each base station clock, are re-introduced into a sync control device, data from
Label is sent out is sent to sync control device to realize the synchronization of each clock after base station receives.But these methods be mostly from
The angle of mechanics of communication is set out, and the data analysis in correction course is lacked, and is not also accounted for all kinds of random errors and is accidentally missed
Influence of the difference to time synchronous calibration.
Invention content
The purpose of the present invention is to provide a kind of UWB multi-point delays bearing calibrations, can handle UWB indoor navigations positioning etc.
In the problem of UWB base station time synchronisms.
The present invention refers to the thought of GNSS satellite satellite clock solution, in conjunction with GNSS data treatment theory, it is proposed that one kind is based on
The more control point time delay adjustment methods of UWB of sync control device.Its basic thought is the known point work for choosing several discrete distributions
Point in order to control, by observing the static data of one section of duration on each control point, in conjunction with GNSS least square adjustments and rough error
Detection method acquires signal propagation time of each base station relative to Reference BTS, i.e. time delay.This method with it is traditional
Compared with single control point corrects time delay, the influence of observation error under different observing environments is weakened, makes time-delay calculation result more
It is accurate to add, and reliability is stronger.
In order to achieve the above object, the method and technology scheme that the present invention provides is：
A kind of UWB multi-point delay bearing calibrations based on least square adjustment, including：
Step L1：Several equally distributed discrete control points are chosen in UWB system ovelay ranges, are obtained control point and are sat
It is marked with and the coordinate of each base station of UWB systems；
Step L2：Label is placed on the control point laid, static data is acquired on each control point；
Step L3：The priori environment information in scene is laid in conjunction with UWB systems to pre-process original observed data, is selected
Reference BTS is taken, difference observation is constructed；
Step L4：It is right in conjunction with existing Error Correction ModelStep L2The static observation data at each control point are
System Correction of Errors；
Step L5：In conjunction with GNSS data processing method, according toStep L4Each control point observation of middle acquisition acquires each
Time delay value corresponding to a control point, and then acquire the amount of the relative time delay between each base stations UWB.
Optionally, in above-mentioned UWB multi-point delays bearing calibration, the step L1 includes：
Being laid in environment in UWB systems selects observation condition preferable, several disperse nodes being evenly distributed；
All base stations can effectively be observed by least one control point；
Ensure that control point has at least one public base station that can effectively observe two-by-two.
Optionally, in above-mentioned UWB multi-point delays bearing calibration, data prediction includes in the step L3：
Consider indoor environment circumstance of occlusion, rejects the base station coordinates for being unable to intervisibility on each control point；
Choose benchmark of the corresponding Reference BTS in each control point as difference between station.
Optionally, in above-mentioned UWB multi-point delays bearing calibration, in the step L3 selection of Reference BTS include：
Ensureing can mutual intervisibility between Reference BTS and control point；
Ensure that the Reference BTS can be observed effectively by least two control points including the control point simultaneously；
The base station near control point is chosen as far as possible as Reference BTS；
Identical Reference BTS is chosen as far as possible in each control point.
Optionally, in above-mentioned UWB multi-point delays bearing calibration, the step L4 includes：
The antenna phase center variation of UWB antenna for base station corrects and remaining system error correction.
Optionally, in above-mentioned UWB multi-point delays bearing calibration, the step L5 includes：
Combined according to each control point observation and solved, acquired between each base stations UWB using the method for least square adjustment
Relative time delay measures；
It is rejected, and iteratively solved finally using the outlier detection theory observation larger to deviation in solution procedure
Delay volume.
In conclusion the present invention is based on UWB sync control devices, combine time delay solution by more control point least square adjustments
Calculate, introduce excess observation component, reduce influence of all kinds of observation errors to time delay adjustment, improve the precision of time delay adjustment with
And stability
Specifically, compared with prior art, the present invention has the following advantages：
Existing UWB Clock Synchronization Technologies spininess does not account for the data during time delay adjustment to telecommunications field
Processing method.The present invention is based on clock synchronous control devices, it is proposed that a kind of more control point time delay adjustment methods.With traditional list
Point time delay adjustment method is compared, and this method refers to GNSS satellite clock correction computational methods, by the multiple controls for laying discrete distribution
Point is calibrated, and excess observation component is introduced；And final time delay value is calculated by least square adjustment method, it can be certain
The influence for weakening all kinds of observation errors caused by different observing environments in degree, improves the precision of time delay adjustment；It is calculating
Indoor environment object is considered in the process and the influences such as blocks, and the larger observation of error is rejected using Detection of Gross Errors method, is protected
The stability and availability of result of calculation are demonstrate,proved.
Description of the drawings
Fig. 1 is the UWB multi-point delay calibration method flow diagrams in one embodiment of the present invention；
Fig. 2 is step S3 idiographic flow schematic diagrams in Fig. 1；
Fig. 3 is step S5 idiographic flow schematic diagrams in Fig. 1.
Specific implementation mode
The specific implementation mode of the present invention is described in more detail below in conjunction with schematic diagram.According to following description and
Claims, advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified form and
Using non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
With reference to figure 1, in one embodiment of the present invention, a kind of multiple spot Yan Jiaozhengfangfabao based on least square adjustment
It includes：
Step S1：Several equally distributed discrete control points are chosen in UWB system base-station coverage areas, obtain control
Each base station coordinates of point coordinates and UWB systems；
Specifically, should be noted that when control point is chosen：
Being laid in environment in UWB systems selects observation condition preferable, several disperse nodes being evenly distributed；
All base stations can effectively be observed by least one control point；
Ensure that control point has at least one public base station that can effectively observe two-by-two.
Step S2：Label is placed on the control point laid, (step S2 is the static data for obtaining on each control point
This field routine techniques)：
Its basic observational equation is：
Wherein, subscript k indicates that k-th of label, subscript i indicate i-th of base station,Indicate the base station i's that label k is received
Observation.It may be noted here that in the case of having sync control device, practical reached through base station by label for signal of observation synchronizes
The time of control device.For the distance between label and base station,Indicate the antenna phase deviation of base station i, dtkFor label
Clock correction, δ t be sync control device clock correction, riFor i-th of base station to the delay volume between sync control device,To see
Noise is surveyed, c indicates the light velocity.
The situation of number is increased since raw observation might have, generally use each base when time delay adjustment and positioning calculation
The method of observation difference is calculated between standing.
Step S3：Data prediction constructs difference observation.
Specifically, with reference to figure 2, step S3 includes：
Step S31：Delete the corresponding observation in base station that intervisibility is unable on each control point.
Specifically, being considered as the influence that barrier in environment blocks.
Optionally, the apex coordinate that can first obtain barrier judges that the method whether line segment intersects determines base station with apposition
Whether signal is blocked.If two adjacent vertex coordinate of barrier is n, n+1, tag coordinate k, base station coordinates i, if meeting：
(nk × ni) * ((n+1) k × (n+1) i) ＜ 0 and (2)
(kn × k (n+1)) * (in × i (n+1)) ＜ 0
Wherein, nk indicates that the vector that 2 lines of n, k are formed, ni indicate the vector that 2 lines of n, i are formed, (n+1) k tables
Show that the vector that 2 lines of n+1, k are formed, (n+1) i indicate the vector that 2 lines of n+1, i are formed, the meaning of symbol "×" is a
× b=axby-aybx, a, b indicate the vector of arbitrary 2 progress multiplication cross, then it is assumed that the base station signal is blocked, and deletes the base station
Observation.Circumstance of occlusion is judged there are many method, and the present invention does not require this.
Step S32：Choose the Reference BTS at each control point.
When Reference BTS is chosen, intervisibility between base station and control point should first ensure that.And it chooses with a distance from control point nearest
Base station is as Reference BTS, to minimize the influence of all kinds of errors in complex environment.Meanwhile should ensure that the base station can simultaneously quilt
At least two control points including the control point are effectively observed, the benchmark resolved with unified more control point time delays.If the base
Station is only capable of being observed by current control point, then removes the base station, then the chosen distance control point in alternative subset in alternative subset
Nearest base station as Reference BTS, and so on, the Reference BTS until determining the control point.
Step S33：Construct the difference observation at each control point.
If specifically, having any base station i, Reference BTS j, label k, then difference observational equation is：
Wherein, difference operatorAs can be seen that being made the difference by observation between base station, label and synchronous control
The clock correction of device is disappeared, but also remains the systematic errors such as antenna phase deviation and observation noise at this time.
Step S4：System error correction is carried out in conjunction with existing Error Correction Model.
Specifically, being corrected antenna phase deviation in combination with existing Error Correction Model, the observation side after correction
Cheng Wei：
At this point, the unknown number in (4) is only rij, tag coordinate (control point coordinates) and base station coordinates are substituted into, then can be found out
I, the relative time-delay amount between two base stations j.
Step S5：Each base station time delay value is acquired using least square adjustment method.
Specifically, with reference to figure 3, the step S5 in one embodiment of the present invention includes：
Step S51：Adjustment acquires the base stations each control point Shang Ge relative time delay value.
If sharing n base station, (4) are write into as matrix form, then observational equation is：
L=Ax+ ∈ (5)
WhereinX=[r1j r2j ... r(j-1)jr(j+1)j
... rnj], A is that n-1 ties up unit matrix, and ∈ is residual vector, then its normal equation is：
N=ATPA, U=ATPL (6)
Optionally, can be used the parameters such as label and base station distance, observation signal-to-noise ratio determine power battle array P, the present invention to this not
It is limited.
If a length of m epoch, the then time delay value finally acquired on the control point are when observation：
Wherein, subscript t indicates t-th of epoch.
Step S52：By each group time delay reduction to same Reference BTS.
A Reference BTS need to be chosen when final resolving, each control point energy intervisibility is often chosen and observation condition is preferable
Base station.But due to each control point can intervisibility base station be not quite similar, when no each control point can intervisibility base station when, need
Reference BTS when to difference is converted.
If original Reference BTS is j, j ' is now converted it to, it can be by rjj′It is placed onLast column is simultaneously multiplied by transition matrix：
Wherein,Indicate the time delay vector of the base station on the basis of j ',For its corresponding covariance, square is designed
Battle array
Step S53：Adjustment solves each final time delay value in base station.
If share K control point, total s observation, then error equation be：
Wherein,V indicates the residual error after adjustment
Vector, then
Next blunder test can be carried out to adjustment result to remove the larger observation of error.Optionally, use 3 δ for
Limit difference carries out Detection of Gross Errors, invents very much without limitation：
If
Wherein, viFor the corresponding residual values of i-th of observation, δ is error in unit power, then it is assumed that is contained in i-th of observation
Rough error, wherein viThe general maximum value being chosen in residual error.Adjustment is re-started after deleting the observation containing rough error, until
Until not detecting rough error, you can obtain the time delay value between final each base station.
In conclusion the present invention is based on UWB sync control devices, when by more control point least square adjustment Combined Calculations
Prolong, introduce excess observation component, reduce influence of all kinds of observation errors to time delay adjustment, improve the precision of time delay adjustment with
And stability
Specifically, compared with prior art, the present invention has the following advantages：
Existing UWB Clock Synchronization Technologies spininess does not account for the data during time delay adjustment to electronic communication technology
Processing method.The present invention is based on clock synchronous control devices, it is proposed that a kind of more control point time delay adjustment methods.With traditional list
Point time delay adjustment method is compared, and this method refers to GNSS satellite clock correction computational methods, by the multiple controls for laying discrete distribution
Point is calibrated, and excess observation component is introduced；And final time delay value is calculated by least square adjustment method, it can be certain
The influence for weakening all kinds of observation errors caused by different observing environments in degree, improves the precision of time delay adjustment；It is calculating
Indoor environment object is considered in the process and the influences such as blocks, and the larger observation of error is rejected using Detection of Gross Errors method, is protected
The stability and availability of result of calculation are demonstrate,proved.
The preferred embodiment of the present invention is above are only, does not play the role of any restrictions to the present invention.Belonging to any
Those skilled in the art, in the range of not departing from technical scheme of the present invention, to the invention discloses technical solution and
Technology contents make the variations such as any type of equivalent replacement or modification, belong to the content without departing from technical scheme of the present invention, still
Within belonging to the scope of protection of the present invention.
Claims (6)
1. a kind of UWB multi-point delay bearing calibrations based on least square adjustment, which is characterized in that including：
Step L1：Choose several equally distributed discrete control points in UWB system ovelay ranges, obtain control point coordinates with
And the coordinate of each base station of UWB systems；
Step L2：Label is placed on the control point laid, static data is acquired on each control point；
Step L3：The priori environment information in scene is laid in conjunction with UWB systems to pre-process original observed data, chooses base
Quasi- base station constructs difference observation；
Step L4：It is right in conjunction with existing Error Correction ModelStep L2The static observation data at each control point carry out system mistake
Difference correction；
Step L5：In conjunction with GNSS data processing method, according toStep L4Each control point observation of middle acquisition, acquires each control
The corresponding time delay value of system point, and then acquire the amount of the relative time delay between each base stations UWB.
2. a kind of UWB multi-point delays school based on least square adjustment as described in claim 1, correction method, which is characterized in that
The step L1 includes：
Being laid in environment in UWB systems selects observation condition preferable, several disperse nodes being evenly distributed；
All base stations can effectively be observed by least one control point；
Ensure that control point has at least one public base station that can effectively observe two-by-two.
3. a kind of UWB multi-point delay bearing calibrations based on least square adjustment as described in claim 1, which is characterized in that
Data prediction includes in the step L3：
Consider indoor environment circumstance of occlusion, rejects the base station coordinates for being unable to intervisibility on each control point；
Choose benchmark of the corresponding Reference BTS in each control point as difference between station.
4. UWB multi-point delays timing Reference BTS choosing method as claimed in claim 3, it is characterised in that：
Ensureing can mutual intervisibility between Reference BTS and control point；
Ensure that the Reference BTS can be observed effectively by least two control points including the control point simultaneously；
The base station near control point is chosen as far as possible as Reference BTS；
Identical Reference BTS is chosen as far as possible in each control point.
5. a kind of UWB multi-point delay bearing calibrations based on least square adjustment as described in claim 1, which is characterized in that
The step L4 includes：
The antenna phase center variation of UWB antenna for base station corrects and remaining system error correction.
6. a kind of UWB multi-point delay bearing calibrations based on least square adjustment as described in claim 1, which is characterized in that
The step L5 includes：
Combined according to each control point observation and solved, acquired using the method for least square adjustment opposite between each base stations UWB
Delay volume；
It is rejected using the outlier detection theory observation larger to deviation in solution procedure, and iteratively solves final time delay
Amount.
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| CN109164470A (en) * | 2018-10-31 | 2019-01-08 | 西安思彼斯信息科技有限公司 | The method and computation of real-time high-precision deformation monitoring in a kind of boring construction |
| CN110133698A (en) * | 2019-06-13 | 2019-08-16 | 湖南农业大学 | UWB localization method and system for agricultural operation machinery self-navigation positioning |
| CN110686681A (en) * | 2019-11-14 | 2020-01-14 | 西安思彼斯信息科技有限公司 | UWB high-precision high-efficiency positioning method |
| CN110686681B (en) * | 2019-11-14 | 2023-04-25 | 西安思彼斯信息科技有限公司 | UWB high-precision and high-efficiency positioning method |
| CN114258126A (en) * | 2020-09-25 | 2022-03-29 | 上海华为技术有限公司 | Data processing method and device |
| WO2022063078A1 (en) * | 2020-09-25 | 2022-03-31 | 华为技术有限公司 | Data processing method and apparatus |
| CN113063422A (en) * | 2021-03-22 | 2021-07-02 | 中国科学院国家授时中心 | Clock difference considered 5G terminal indoor positioning method |
| CN113063422B (en) * | 2021-03-22 | 2022-10-14 | 中国科学院国家授时中心 | Clock-error-considered 5G terminal indoor positioning method |
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