CN108646215B - Automatic following rapid positioning method based on ultra wide band - Google Patents
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Abstract
The invention requests to protect an automatic following quick positioning method based on an ultra wide band, which mainly comprises the following steps: the relative distance between two base stations and the tags is calculated by measuring the time stamps of data packets sent and received between the tags and the base stations, the optimal value of the distance is estimated by multiple filtering, the distance and the relative angle from a platform provided with the base stations to the tags are quickly calculated according to the measured distance, the positions of the tags are positioned, and then the distance and the relative angle can be calculated according to the calculated distance and the relative angle. The invention realizes a quick and high-efficiency positioning mode and reduces the calculation amount.
Description
Technical Field
The invention belongs to the field of application of positioning following technology, and particularly relates to an automatic following quick positioning method based on an ultra wide band.
Background
UWB (Ultra-Wideband) Ultra-Wideband, originally used impulse radio technology, which dates back to the 19 th century. Later, a MB-OFDM technical scheme applying UWB is proposed by large companies such as Intel and the like, and due to the fact that the two schemes are quite different and strong marketing support is provided for each scheme, the 802.15.3a working group which establishes the UWB standard cannot determine the final standard scheme in the two schemes, and then the final standard scheme is delivered to the market for solving. To further increase data rates, UWB employs a GHz-level spectrum rich in ultra-short baseband. UWB was used in the early days for near-distance high-speed data transmission, and recently, it has been used abroad to perform near-distance accurate indoor positioning by using sub-nanosecond ultra-narrow pulses.
Uwb (ultra wideband) wireless communication is a method that uses pulses with very short time intervals (less than 1ns) to communicate without carrier, and uses non-sinusoidal wave narrow pulses of nanosecond to picosecond order to transmit data. By transmitting very low power signals over a wide frequency spectrum, UWB can achieve data transmission rates of hundreds of Mbit/s to Gbit/s over a range of about 10 meters. The anti-interference performance is strong, the transmission rate is high, the system capacity is large, and the transmission power is very small. UWB systems transmit very little power and communication devices can communicate with less than 1mW of transmit power. The low transmitting power greatly prolongs the working time of the system power supply. And the transmitting power is low, the influence of electromagnetic wave radiation on human bodies is small, and the application range is wide.
The traditional GPS is not high in precision and cannot be used in an indoor environment or an environment shielded by a large building, a monocular vision-based target tracking technology has the problems of large calculated amount, incapability of tracking due to shielding, difficulty in recovering relative position information of a target and the like, and Bluetooth and RFID positioning technologies are short in action distance and weak in communication capacity and are not convenient to integrate into other systems although being slightly interfered by the environment; the infrared technology has large power consumption, is often blocked by indoor walls or objects, and has poor practicability; the positioning precision of the ultrasonic wave can reach centimeter level, the precision is higher, but the attenuation of the ultrasonic wave in the transmission process is obvious, so that the effective positioning range is influenced, and the cost is higher. According to the traditional UWB positioning technology, most of the tags in the same condition environment are accurately positioned indoors through a limited number of fixed micro base stations installed indoors, the position of the tags is displayed in a control center in a zero-delay mode, the tag positions are monitored in real time, and therefore the UWB-based rapid positioning method of the system is more realistic and effective in rapidly positioning relative base stations.
Since birth, mobile robots are widely used in many fields such as aerospace, military, industrial production, etc. In recent years, wheeled mobile robots with automatic operation and intelligent decision making functions are gradually emerging and tend to replace traditional mechanical trolleys. And the system can automatically follow the intelligent robot to the moving target, and has wide application prospect in baggage transportation at airports, factory material transportation, household personal products and the like. However, one of the technical difficulties of the mobile target automatically following the intelligent robot is positioning, which is a precondition for the robot to complete complex tasks such as path planning and autonomous navigation, and is a research hotspot in the field of mobile robots.
The mobile robot target tracking technology based on the UWB positioning technology has the advantages of high precision in a short distance (within dozens of meters), small calculation amount and capability of being used indoors and directly solving the relative position of a target. The UWB-based rapid positioning method and system are designed, and the specific moving target can be positioned, so that the design requirement of the intelligent robot for automatically following the moving target is met. Based on UWB ultra-wideband signal indoor tracking positioning model and UWB signal indoor tracking algorithm. The relative position of the label to the base station on the platform is calculated through a positioning algorithm of time of arrival (DS) ranging in a UWB (ultra-wideband) positioning technology, and the following of the label by the base station is realized.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. The automatic following quick positioning method based on the ultra wide band is capable of improving positioning accuracy and automatically following. The technical scheme of the invention is as follows:
an automatic following fast positioning method based on ultra wide band is provided, two micro base stations are fixed indoors, and the method comprises the following steps:
respectively measuring timestamps of a data packet transmitted and a data packet received between the tag and the two fixed micro base stations, respectively calculating relative distances between the tag and the two micro base stations, and obtaining an initial azimuth estimation value of the tag;
estimating the optimal value of the distance of the target label to be positioned by adopting an improved multiple filtering estimation algorithm on the obtained initial position estimation value; the improvement mainly lies in that the requirement of positioning in automatic following is realized by only two base stations through a design algorithm, and the target object can be accurately and quickly positioned. The existing methods in the market locate the specific position of the tag through three base stations. The ultra-wideband-based automatic following quick positioning method greatly improves the utilization rate of hardware resources and saves the cost. The method enables the system to have the advantages of high transmission rate, low power consumption, high safety, strong anti-interference capability, strong multipath resolution capability, accurate positioning, simple structure and the like.
And calculating the distance and the relative angle from the platform provided with the base station to the target label to be positioned by adopting a cosine law according to the measured distance, and positioning the position of the target label to be positioned.
Further, the distance between the two base stations is fixed.
Further, the improved multiple filtering estimation algorithm comprises the following steps:
reading currently measured distance data;
updating the current predicted distance according to the current distance data to obtain prior estimation;
calculating multiple filtering gains (one weight for balancing prior estimation and measured value);
fourthly, updating the distance of the system as the output of filtering, and updating the prior error to the posterior error at the same time;
and fifthly, repeating the steps.
Further, the measuring of the timestamps of the data packet transmission and the data packet reception between the tag and the two fixed micro base stations respectively calculates the relative distance between the tag and the two micro base stations, and specifically includes:
the time stamp is recorded through 4 times of data frame receiving and sending between the base station and the label, the interval time of each time of data receiving and sending is calculated, and the propagation time T of the electromagnetic wave between the label and the base station A can be calculated through the formulas 1 and 2propAAnd propagation time T between the tag and base station BpropB；
Tround1AIndicating the time interval between the transmission of data frame 1 by the tag and the receipt of reply data frame 2 from base station a by the tag,
Tround2Aindicating the time interval between base station a sending data frame 2 and base station a receiving tag reply data frame 4,
Treply1Aindicating the time interval between the receipt of data frame 1 by base station a and the transmission of data frame 2 by base station a,
Treply2Aindicating the time interval between the receipt of data frame 2 by the tag and the transmission of data frame 4 by the tag,
Tround1Bindicating the time interval between the transmission of data frame 1 by the tag and the receipt of reply data frame 3 from base station B by the tag,
Tround2Bindicating the time interval between base station B sending data frame 3 and base station B receiving tag reply data frame 4,
Treply1Bindicating the time interval between the receipt of data frame 1 by base station B and the transmission of data frame 3 by base station B,
Treply2Bindicating the time interval between the receipt of data frame 3 by the tag and the transmission of data frame 4 by the tag,
multiplying the propagation time of the electromagnetic wave in the base station and the tag by the propagation speed c of the electromagnetic wave in the free space, and obtaining that the distance between the tag and the two base stations is respectively:
Dis1＝c×TpropA (3)
Dis2＝c×TpropB (4)
further, according to the measured distance, the distance and the relative angle from the platform provided with the base station to the target label to be positioned are calculated by adopting a cosine law, and the position of the target label to be positioned is positioned, which specifically comprises the following steps:
knowing that the distance between the BS1 and the BS2 is fixed, taking the midpoint of the two as a reference point, measuring Dis1And Dis2After the magnitude of (a), the α angle can be obtained according to the cosine theorem:
dis can be obtained according to the same principle of cosine law as:
from this, the distance of the tag from the reference point of the base station on the platform is derived.
From the cosine theorem, the angle θ can be found as:
further, the method also comprises the step of adopting an obstacle detection algorithm to prejudge the mobility of the next state, and specifically comprises the following steps: adopt the ultrasonic wave to keep away the barrier module, a plurality of ultrasonic ranging modules are equipped with to follow thing bottom, realize that all directions can detect the barrier, realize that the field of vision does not have the dead angle, realize keeping away the barrier automatically through real-time perception barrier, the follow thing is keeping away the in-process of barrier action, mainly there are straight line walking and two kinds of states of turning, relative coordinate system's establishment is with the gesture division of follow thing self, use little base station center on the follow thing as the coordinate origin, use the speed direction of follow thing as the coordinate axis positive direction, be used for the position of mark current barrier thing for the follow thing.
The invention has the following advantages and beneficial effects:
in the system moving process, the invention adopts an obstacle detection algorithm, judges the current state of the system through data obtained by the ultrasonic sensor and the motion processing sensor, and pre-judges the mobility of the next state. And partitioning the obstacle object by adopting a self-adaptive analysis method according to data obtained by the ultrasonic sensors, and optimizing to finally obtain the blocking area and angle of each obstacle so as to realize obstacle detection. And estimating the current state of the system by processing the data of the sensor through motion, jointly estimating the blocking area and angle of each obstacle, pre-judging the mobility of the next state, and automatically following according to a PID control idea, a D-algorithm, a label distance and a relative angle. The method realizes a quick and efficient positioning mode, reduces the calculated amount, and directly obtains the distance and the relative angle of the target, thereby realizing positioning. The process of acquiring the target position in the form of only two base stations is realized in the system, so that the positioning process is simplified. And in the case that the tag and the base station move, a relative movement following positioning mode is adopted. The system realizes an accurate positioning method, typically 5 cm, and specially 3 cm. The obstacle detection algorithm can meet the real-time requirements of system obstacle detection and path planning, and has a good obstacle avoidance effect. The system has good collision-free automatic following effect when operated in an actual field environment.
Drawings
FIG. 1 is a timing diagram illustrating the transmission and reception of data frames in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a location tag;
FIG. 3 is a schematic flow chart of the positioning algorithm of the present invention;
fig. 4 is a schematic diagram of an obstacle avoidance strategy for an obstacle.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
A. calculating the relative distance between the two base stations and the label by measuring the time stamps of sending and receiving data packets between the label and the base stations;
B. multiple filtering estimates the optimal value of the distance;
C. rapidly calculating the distance and the relative angle of the tag relative to the platform where the base station is located according to the measured distance;
(1) UWB ranging principle:
the DWM1000 can measure the arrival time difference between the base station and the label, the time difference between the base station and the label of the electromagnetic wave is obtained through calculation, and then the propagation speed of the electromagnetic wave in the free space is multiplied, so that the distances from the label to the two three base stations can be respectively obtained.
(2) Implementation of the following algorithm:
FIG. 1 is a timing diagram for transmitting and receiving data frames
The time stamp is recorded through 4 times of data frame receiving and sending between the base station and the label, the interval time of each time of data receiving and sending is calculated, and the propagation time T of the electromagnetic wave between the label and the base station A can be calculated through the formulas 1 and 2propAAnd propagation time T between the tag and base station BpropB。
Multiplying the propagation time of the electromagnetic wave in the base station and the tag by the propagation speed c of the electromagnetic wave in the free space, and obtaining that the distance between the tag and the two base stations is respectively:
Dis1＝c×TpropA (3)
Dis2＝c×TpropB (4)
FIG. 2 is a schematic view of a location tag
Knowing that the distance between the BS1 and the BS2 is fixed, taking the midpoint of the two as a reference point, measuring Dis1And Dis2After the magnitude of (2), the angle α can be obtained according to the cosine theorem.
Dis can be verified according to the theorem of cosines as:
from this, the distance of the tag from the reference point of the base station on the platform is derived.
From the cosine theorem, the angle θ can be found as:
from this the position of the tag from a reference point of the base station on the platform is derived.
FIG. 3 is a flow chart of the present invention; therefore, under the condition that the base station knows the position and the distance of the tag, the tag object can be followed by adjusting the platform.
The multi-filtering improved positioning algorithm works: the measured data is used as input data, and a positioning algorithm works firstly to obtain the preliminary estimation of the position of the target node to be measured; and the multiple filtering obtains an optimal estimation value according to the last work of the multiple filtering and estimates the measurement value to obtain the optimal estimation value of the current measurement of the target node to be measured.
D. And (4) adopting an obstacle detection algorithm to prejudge the mobility of the next state.
Adopt the ultrasonic wave to keep away barrier module, 3 ultrasonic ranging modules are equipped with to the suitcase bottom. The front, the left and the right are respectively one, people can be detected in the front, no dead angle of the visual field is realized, and intelligent obstacle avoidance is realized by sensing obstacles in real time. The trunk mainly has two states of straight walking and turning in the process of carrying out obstacle avoidance actions, and the relative coordinate system is established by dividing the trunk by the self posture, taking the centers of the left and right wheels of the trunk as the origin of coordinates and taking the speed direction of the trunk as the positive direction of the coordinate axis. For marking the position of the current obstacle relative to the luggage case.
FIG. 4 is a schematic diagram of an obstacle avoidance strategy for an obstacle
E. And realizing automatic following according to a PID control idea, a D-algorithm, a label distance and a relative angle.
The method comprises the following steps of: the distance and the relative angle of the labels are obtained through the algorithm, then the position information of the obstacle is obtained, the information is sent to a processor of the follower, dynamic path planning is carried out on the follower through a D-path planning algorithm, and the direction and the speed of the follower are controlled in real time through a motion control module according to a real-time planned path and in combination with a PID algorithm, so that the purpose of automatic following is achieved.
a. The system realizes quick and efficient positioning.
b. The form of only two base stations is realized, and the positioning process is simplified.
c. The label and the base station are both moving and adopt a relative movement following positioning mode.
d. An accurate positioning method, typically 5 cm, is applied for 3 cm.
e. The calculation amount is small, and the relative position of the target can be directly obtained, so that the positioning is realized.
f. The obstacle detection algorithm can meet the real-time requirements of system obstacle detection and path planning, and has a good obstacle avoidance effect.
g. The operation result shows good collision-free automatic following effect under the actual field environment.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (7)
1. An automatic following fast positioning method based on ultra wide band is characterized in that two micro base stations are fixed indoors, and the method comprises the following steps:
respectively measuring timestamps of a data packet transmitted and a data packet received between the tag and the two fixed micro base stations, respectively calculating relative distances between the tag and the two micro base stations, and obtaining an initial azimuth estimation value of the tag;
estimating the optimal value of the distance of the target label to be positioned by adopting an improved multiple filtering estimation algorithm on the obtained initial position estimation value; the improvement mainly comprises the following steps that the requirement of positioning in automatic following is met by only two base stations through a design algorithm, and the target object can be accurately and quickly positioned; the working process of the multi-filtering improved positioning algorithm comprises the following steps: the measured data is used as input data, and a positioning algorithm works firstly to obtain the preliminary estimation of the position of the target node to be measured; the initial estimation value of the target node to be measured, which is estimated by the positioning algorithm, is used as an input value, and the multiple filtering obtains an optimal estimation value according to the last work of the multiple filtering and estimates the measurement value to obtain the optimal estimation value of the target node to be measured at this time;
according to the measured distance, the distance and the relative angle from a platform provided with a base station to a target label to be positioned are calculated by adopting a cosine law, the relative position of the target label to be positioned and the base station is positioned, then the position information of an obstacle is obtained, the information is sent to a processor of a follower, dynamic path planning is carried out on the follower by a D-path planning algorithm, and a motion control module controls the direction and the speed of the follower by combining a PID algorithm according to a real-time planned path, so that the purpose of automatic following is achieved.
2. The ultra-wideband based automatic following fast positioning method as claimed in claim 1, wherein the distance between said two base stations is fixed.
3. The ultra-wideband based automatic following fast positioning method according to claim 1, wherein said improved multiple filtering estimation algorithm comprises the steps of:
reading currently measured distance data;
updating the current predicted distance according to the current distance data to obtain prior estimation;
calculating multiple filtering gain, namely weighting for balancing prior estimation and measured value;
fourthly, updating the distance of the system as the output of filtering, and updating the prior error to the posterior error at the same time;
and fifthly, repeating the steps.
4. The automatic following fast positioning method based on ultra wide band according to one of claims 1 to 3, wherein the measuring of the time stamps of the sending data packet and the receiving data packet between the tag and two fixed micro base stations respectively calculates the relative distance between the tag and two micro base stations, specifically comprising:
the time interval of data receiving and transmitting each time is calculated by receiving and transmitting 4 times of data frames between the base station and the label and recording the time stamp, and the propagation time of the electromagnetic wave between the label and the base station A can be calculated by the formulas 1 and 2TpropAAnd propagation time T between the tag and base station BpropB；
Tround1AIndicating the time interval between the transmission of data frame 1 by the tag and the receipt of reply data frame 2 from base station a by the tag,
Tround2Aindicating the time interval between base station a sending data frame 2 and base station a receiving tag reply data frame 4,
Treply1Aindicating the time interval between the receipt of data frame 1 by base station a and the transmission of data frame 2 by base station a,
Treply2Aa time interval representing the receipt of data frame 2 by the tag and the transmission of data frame 4 by the tag;
Tround1Bindicating the time interval between the transmission of data frame 1 by the tag and the receipt of reply data frame 3 from base station B by the tag,
Tround2Bindicating the time interval between base station B sending data frame 3 and base station B receiving tag reply data frame 4,
Treply1Bindicating the time interval between the receipt of data frame 1 by base station B and the transmission of data frame 3 by base station B,
Treply2Bindicating the time interval between the receipt of data frame 3 by the tag and the transmission of data frame 4 by the tag,
multiplying the propagation time of the electromagnetic wave in the base station and the tag by the propagation speed c of the electromagnetic wave in the free space, and obtaining that the distance between the tag and the two base stations is respectively:
Dis1＝c×TpropA (3)
Dis2＝c×TpropB (4)。
5. the automatic following fast positioning method based on ultra wide band according to claim 4, wherein the distance and relative angle from the platform equipped with the base station to the target tag to be positioned are calculated by cosine law according to the measured distance, and the position of the target tag to be positioned is positioned, specifically comprising:
knowing that the distance between the BS1 and the BS2 is fixed, taking the midpoint of the two as a reference point, measuring Dis1And Dis2After the size of the angle alpha can be obtained according to the cosine law
Dis can be obtained according to the same principle of cosine law as:
obtaining the distance between the label and the datum point of the base station on the platform;
from the cosine theorem, the angle θ can be found as:
6. the ultra-wideband-based automatic following quick positioning method according to claim 5, further comprising a step of predicting mobility of a next state by using an obstacle detection algorithm, specifically comprising: adopt the ultrasonic wave to keep away the barrier module, a plurality of ultrasonic ranging modules are equipped with to follow thing bottom, realize that all directions can detect the barrier, realize that the field of vision does not have the dead angle, realize keeping away the barrier automatically through real-time perception barrier, the follow thing is keeping away the in-process of barrier action, mainly there are straight line walking and two kinds of states of turning, relative coordinate system's establishment is with the gesture division of follow thing self, use little base station center on the follow thing as the coordinate origin, use the speed direction of follow thing as the coordinate axis positive direction, be used for the position of mark current barrier thing for the follow thing.
7. The automatic following fast positioning method based on the ultra wide band according to claim 5, characterized in that, further comprising the steps of realizing automatic following according to PID control, D-algorithm, label distance and relative angle:
the distance and the relative angle of the labels are obtained through the algorithm, then the position information of the obstacle is obtained, the information is sent to a processor of the follower, dynamic path planning is carried out on the follower through a D-path planning algorithm, and the direction and the speed of the follower are controlled in real time through a motion control module according to a real-time planned path and in combination with a PID algorithm, so that the purpose of automatic following is achieved.
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