CN108834071A - A method of positioning Wireless-wire message is merged based on TOF/TDOA - Google Patents
A method of positioning Wireless-wire message is merged based on TOF/TDOA Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The present invention provides a kind of methods for merging positioning Wireless-wire message based on TOF/TDOA, which is characterized in that following steps：Label node periodic wakeup simultaneously sends Blink signal, the Blink signal includes control prefix, tag MAC address information, after anchor node receives the information, sign in TOA, and the TOA information is transmitted to location-server by the Internet protocol data packet, location-server is based on TOA information and carries out positioning analysis calculating.The present invention does not need to carry out that time synchronization will be carried out between base station, it is only necessary to which sign in TOA, and synchronizing calculating to TOA can be completed.
Description
Technical field
The present invention relates to a kind of fields of communication technology, and in particular to Wireless-wire message field of locating technology particularly relates to
A kind of and method that positioning Wireless-wire message is merged based on TOF/TDOA.
Background technique
Real-time positioning system, and be exactly RTLS (RealTimeLocationSystems), RTLS is a kind of based on signal
Radio-positioning means, can be using active or passive induction type.RTLS can allow the wealth for understanding positioned in real time
Production, personnel, vehicle or other accurate locations for positioning object.
RTLS based on TDOA：Currently based on the mode of wireless TDOA, there are two crucial technology, between a base station
Time synchronization, second is that label sends message, then base station is used according to the time for receiving message to calculate reaching time-difference
Hyperbola algorithm, to realize two dimension, three-dimensional positioning, the precision of positioning is relatively high, and highest can be with a centimetre rank.
Reaching time-difference TDOA reaches the time difference of different locating base stations according to the wireless signal that Unknown Label node is sent,
It is poor that the distance between Unknown Label node and each locating base station can be calculated according to the spread speed of wireless signal, this away from
Deviation meets the condition of Hyperbolic Equation, and Unknown Label node is just in this hyp branch.If there are three or three
Above locating base station, so that it may the position of unknown node is found out by solving a plurality of hyp intersection point.TDOA mensuration benefit
The position of unknown node is determined with multiple positioning nodes, therefore does not need the time synchronization stringent like that TOA, but there is still a need for
Positioning node has accurate time synchronization.
RTLS based on ToF (TimeofFlight) mechanism
ToF refers to the time that electromagnetic wave is propagated in the sky, by measuring the electromagnetic wave propagation time between two points, multiplied by
With the light velocity, the distance between two equipment is converted to.
It is being based on ToF mechanism, labeling requirement and each base station carry out ranging.Then pass through the distance of label and base station, really
Make the position of label.
It in TDOA system, using hyperbola algorithm, there is very big limitation, is asked using the algorithm is insurmountable
Topic.The equipment mainly positioned is when except the range of base station, precision rapid decrease, this precision it is quick under
Drop, is not the data deviation of TDOA instead of, is algorithm itself.
Therefore in order to solve the above technical problems, Patent No.：" CN201410523394.9 " provides one kind and is based on
The localization method of TDOA and ToF mixing, this method include：Step 1：Server chooses master base station and from base station and completes base station
Between time synchronization；Step 2：Tag broadcast TDOA message reaches the calculating label of the time difference between each base station and each base by it
It the distance between stands difference；Step 3：Label calculates the distance between itself and the base station by sending ToF message to certain base station；
Step 4：The distance between label and all base stations are calculated by the result of step 2 and step 3；Step 5：By label with
The position of the distance between each base station calculating label.
When the above method is positioned, location Calculation is carried out using the time difference, needs to carry out time synchronization, this is just needed
Every time when communication, time synchronization operation is carried out, to guarantee being normally carried out for system, this process is comparatively laborious.
Summary of the invention
In view of this, there is provided one kind based on TOF/TDOA fusion positioning Wireless-wire message for the main object of the present invention
Method.
The technical solution adopted by the present invention is：
A method of positioning Wireless-wire message, following steps are merged based on TOF/TDOA：Label node is periodically called out
It wakes up and sends Blink signal, the Blink signal includes control prefix, tag MAC address information, and anchor node receives the information
Afterwards, sign in TOA, and the TOA information is transmitted to location-server, location-server by the Internet protocol data packet
Positioning analysis calculating is carried out based on TOA information.
It further include that anchor node periodically sends Blink data packet, anchor node records sending time TOE, TOE information is led to
It crosses Ethernet and is transferred to location-server；After other anchor nodes receive the Blink signal, tracer signal arrival time TOA,
The TOA information is transferred to location-server, location-server is based on TOA information and carries out the synchronous calculating of clock.
For the anchor node of not ethernet network, there can be the anchor node of network connection to be forwarded by other.
The location-server is based on TOA information and carries out in positioning analysis calculating, further includes TOF measurement, the TOF measurement
Include the following steps：
TOF measurement is carried out between step 1) label node and anchor node；
Step 2) carries out the positioning of label node using TOF measurement information.
The TOF measurement process is initiated by label, and base station is as answer party.
The TOF measurement method is as follows：
A：Label node periodic wakeup, and carry out inquiring after Polling, label record sending time TOE, and carry out local
Storage, the label time is T1, while including the message format F1 prefix of label TOE information；
B：After anchor node receives the interrogation signals of label node, sign in TOA, and forwards the information to
Location-server, if anchor node is TDOA node, using the format of TDOA；If TOF measurement node, the time is marked to be at this time
T2, corresponding F2 information, it is necessary to the message is indicated in the Internet protocol data packet；
C：For TOF anchor node, response wireless signal is sent immediately, and the message prefix of this wireless signal is 0xF3, anchor section
Point record sending time TOE, and transmit this information to location-server；
D：After label node receives wireless data, sign in TOA, and this time is T4, when being positioned, needs
Multiple TOF are wanted, label node waits multiple anchor node response wireless data packets, records multiple T4；
E：Label is immediately sent the time T1 and T4 of local record using wireless data packet, and the prefix of wireless data packet is
0xF4；
F：Anchor node receives the message of F4 prefix, and there is the be connected to the network and the smallest anchor node in address to turn this information
It is dealt into location-server；
G：Location-server carries out ageing pairing, the TOF and distance of acquisition label to multiple anchor nodes；
H：Location-server carries out positioning analysis calculating, is merged with the result of TDOA positioning.
After anchor node receives the interrogation signals of label node, if there is ranging node, then label node sniff, then
It sends, records local TOE, anchor node records TOA, and TOA information had both been used for TDOA positioning, is also used for TOF positioning.
The present invention does not need to carry out that time synchronization will be carried out between base station, it is only necessary to sign in TOA, to TOA into
Synchronous calculate of row can be completed.
Detailed description of the invention
Fig. 1 is frame principle of the invention；
Fig. 2 is the frame principle of the TOF/TDOA fusion positioning in the present invention comprising relay forwarding；
Fig. 3 is the method figure of TOF measurement in the present invention；
Fig. 4, Fig. 5 and Fig. 6 are the principle framework figure of TOF measurement in the present invention；
Fig. 7 is a kind of expression way of label TDOA Blink wireless data packet messaging protocol format；
Fig. 8 is another expression way of label TDOA Blink wireless data packet messaging protocol format；
Fig. 9 is the wireless data packet messaging protocol format of label TOF loopback T1T4 information；
Figure 10 and Figure 11 is respectively TDOA Blink wireless data packet messaging protocol format；
Figure 12 is anchor node F3 wireless data packet messaging protocol format.
Specific embodiment
Below in conjunction with attached drawing and specific embodiment, the present invention will be described in detail, herein illustrative examples of the invention
And explanation is used to explain the present invention, but not as a limitation of the invention.
Referring to figs. 1 to Fig. 6, the invention discloses a kind of method for merging positioning Wireless-wire message based on TOF/TDOA,
Following steps：Label node periodic wakeup simultaneously sends Blink signal, and the Blink signal includes control prefix, label MAC
Address information, after anchor node receives the information, sign in TOA, and the TOA information is passed by the Internet protocol data packet
It is sent to location-server, location-server is based on TOA information and carries out positioning analysis calculating.
It further include that anchor node periodically sends Blink data packet, anchor node records sending time TOE, TOE information is led to
It crosses Ethernet and is transferred to location-server；After other anchor nodes receive the Blink signal, tracer signal arrival time TOA,
The TOA information is transferred to location-server, location-server is based on TOA information and carries out the synchronous calculating of clock.
For the anchor node of not ethernet network, there can be the anchor node of network connection to be forwarded by other.
The location-server is based on TOA information and carries out in positioning analysis calculating, further includes TOF measurement, the TOF measurement
Include the following steps：
TOF measurement is carried out between step 1) label node and anchor node；
Step 2) carries out the positioning of label node using TOF measurement information.
The TOF measurement process is initiated by label, and base station is as answer party.
The TOF measurement method is as follows：
A：Label node periodic wakeup, and carry out inquiring after Polling, label record sending time TOE, and carry out local
Storage, the label time is T1, while including the message format F1 prefix of label TOE information；
B：After anchor node receives the interrogation signals of label node, sign in TOA, and forwards the information to
Location-server, if anchor node is TDOA node, using the format of TDOA；If TOF measurement node, the time is marked to be at this time
T2, corresponding F2 information, it is necessary to the message is indicated in the Internet protocol data packet；
C：For TOF anchor node, response wireless signal is sent immediately, and the message prefix of this wireless signal is 0xF3, anchor section
Point record sending time TOE, and transmit this information to location-server；
D：After label node receives wireless data, sign in TOA, and this time is T4, when being positioned, needs
Multiple TOF are wanted, label node waits multiple anchor node response wireless data packets, records multiple T4；
E：Label is immediately sent the time T1 and T4 of local record using wireless data packet, and the prefix of wireless data packet is
0xF4；
F：Anchor node receives the message of F4 prefix, and there is the be connected to the network and the smallest anchor node in address to turn this information
It is dealt into location-server；
G：Location-server carries out ageing pairing, the TOF and distance of acquisition label to multiple anchor nodes；
H：Location-server carries out positioning analysis calculating, is merged with the result of TDOA positioning.
After anchor node receives the interrogation signals of label node, if there is ranging node, then label node sniff, then
It sends, records local TOE, anchor node records TOA, and TOA information had both been used for TDOA positioning, is also used for TOF positioning.
It is a kind of expression way of label TDOA Blink wireless data packet messaging protocol format referring to Fig. 7, Fig. 7.
It is another expression way of label TDOA Blink wireless data packet messaging protocol format referring to Fig. 8, Fig. 8.
(1) control and serial number：
0x00：Always 0xC5；
0x01：Serial number, every transmission is primary plus one recycles；
(2) the 64 bit mac address 0x02-0x09
48 bit mac addresses are DE:CA:00:00:WX:YZ, wherein WX:YZ is PAN ID
64 bit mac addresses are DE:CA:00:FF:FE:00:WX:YZ, wherein WX:YZ is PAN ID
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:00:00:WX:YZ, wherein WX:YZ is PAN
ID。
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:01:00:WX:When YZ, Anchor is indicated.?
In this system after latter two byte of the MAC Address of Anchor from 0xFFFF descending use, latter two byte of tag MAC address from
0x0000 ascending order uses.
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:00:00:WX:When YZ, Tag is indicated.
(3) crc field does not use.
The protocol format that label TOF inquires after wireless data packet is consistent with the protocol format of TDOA Blink wireless data packet.
Message format is as shown in Figure 7 and Figure 8.
Referring to Fig. 9：Fig. 9 is wireless data packet messaging protocol the format F4, label TOF time of label TOF loopback T1T4 information
Breath of delivering letters includes interrogation signals sending time T1 and base station answer signal arrival time T4, using F4 message prefix.This message is
Variable-length, the multiple that length is 16.
The explanation of field of Fig. 9 is as follows：
Explanation of field is as follows：
(1) byte 1：Prefix is controlled, always 0xF4
Always F4 indicates the local zone time metrical information of label loopback.
(2 bytes 2, sequence number field
The sequence number of tag interrogation data packet (Blink data packet), for matching.
(3) byte 3-10, tag MAC address field
(4) byte 11, always 0xF1, indicates that 5 bytes thereafter are TOE, i.e. T1
(5) byte 12-16,5 byte TOE, i.e. T1, high byte are first sent out, network word sequence
(6) byte 17-32：The address 0xF3+ serial number+AnchorMAC (8 byte)+0xF3+TOA (5 byte) indicates one
Anchor node signal reaches the time.
(7) byte 33-48：The address 0xF3+ serial number+AnchorMAC (8 byte)+0xF3+TOA (5 byte) is indicated next
A anchor node signal reaches the time.
Figure 10 and Figure 11 is respectively TDOA Blink wireless data packet messaging protocol format.
Format description
(1) control and serial number：
0x00：Always 0xC5；
0x01：Serial number, every transmission is primary plus one recycles；
(2) the 64 bit mac address 0x02-0x09
48 bit mac addresses are DE:CA:00:00:WX:YZ, wherein WX:YZ is PAN ID
64 bit mac addresses are DE:CA:00:FF:FE:00:WX:YZ, wherein WX:YZ is the corresponding less radio-frequency of PAN ID
64 bit mac addresses be DE:CA:00:00:01:00:WX:When YZ, Anchor is indicated.The MAC of Anchor after in the present system
Latter two byte of location is used from 0xFFFF descending, latter two byte of tag MAC address is used from 0x0000 ascending order.
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:81:00:WX:When YZ, indicate that the Anchor is
One relaying Anchor.64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:41:00:WX:When YZ, indicating should
Anchor is a TOF measurement Anchor.
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:C1:00:WX:When YZ, indicate that the Anchor is
One TOF measurement Anchor, while also there is relay function.
Referring to Fig.1 2：Figure 12 is anchor node F3 wireless data packet messaging protocol format, as follows：
1) control and serial number：
0x00：Always 0xF3
0x01：Serial number, this serial number will use the serial number in tag interrogation wireless data packet；I.e. with the serial number word in Fig. 7
Section is consistent.
(2) the 64 bit mac address 0x02-0x09
48 bit mac addresses are DE:CA:00:00:WX:YZ, wherein WX:YZ is PAN ID
64 bit mac addresses are DE:CA:00:FF:FE:00:WX:YZ, wherein WX:YZ is PAN ID
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:01:00:WX:When YZ, Anchor is indicated.?
In this system after latter two byte of the MAC Address of Anchor from 0xFFFF descending use, latter two byte of tag MAC address from
0x0000 ascending order uses.
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:81:00:WX:When YZ, indicate that the Anchor is
One relaying Anchor.
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:41:00:WX:When YZ, indicate that the Anchor is
One TOF measurement Anchor.
64 bit mac addresses of corresponding less radio-frequency are DE:CA:00:00:C1:00:WX:When YZ, indicate that the Anchor is
One TOF measurement Anchor, while also there is relay function.
Technical solution disclosed in the embodiment of the present invention is described in detail above, specific implementation used herein
Example is expounded the principle and embodiment of the embodiment of the present invention, and the explanation of above embodiments is only applicable to help to understand
The principle of the embodiment of the present invention；At the same time, for those skilled in the art is being embodied according to an embodiment of the present invention
There will be changes in mode and application range, in conclusion the content of the present specification should not be construed as to limit of the invention
System.
Claims (7)
1. a kind of method for merging positioning Wireless-wire message based on TOF/TDOA, which is characterized in that following steps：Label node
Periodic wakeup simultaneously sends Blink signal, and the Blink signal includes control prefix, tag MAC address information, and anchor node connects
After receiving the information, sign in TOA, and the TOA information is transmitted to location-server by the Internet protocol data packet, fixed
Position server is based on TOA information and carries out positioning analysis calculating.
2. the method according to claim 1, wherein further include that anchor node periodically sends Blink data packet,
Anchor node records sending time TOE, and TOE information is transferred to location-server by Ethernet；Other anchor nodes receive this
After Blink signal, which is also transferred to location-server by tracer signal arrival time TOA, and location-server is based on
TOA information carries out the synchronous calculating of clock.
3. according to the method described in claim 2, it is characterized in that, anchor node for not ethernet network, can pass through
There is the anchor node of network connection to be forwarded for other.
4. the method according to claim 1, wherein the location-server, which is based on TOA information, carries out positioning point
Analysis further includes TOF measurement, the TOF measurement includes the following steps in calculating：
TOF measurement is carried out between step 1) label node and anchor node；
Step 2) carries out the positioning of label node using TOF measurement information.
5. according to the method described in claim 4, base station is used as and answers it is characterized in that, the TOF measurement process is initiated by label
The side of answering.
6. according to the method described in claim 4, it is characterized in that, the TOF measurement method is as follows：
A：Label node periodic wakeup, and carry out inquiring after Polling, label record sending time TOE, and carry out local deposit
Storage, the label time is T1, while including the message format F1 prefix of label TOE information；
B：After anchor node receives the interrogation signals of label node, sign in TOA, and forwards the information to positioning
Server, if anchor node is TDOA node, using the format of TDOA；If TOF measurement node, marking the time at this time is T2, right
Answer F2 information, it is necessary to the message is indicated in the Internet protocol data packet；
C：For TOF anchor node, response wireless signal is sent immediately, and the message prefix of this wireless signal is 0xF3, anchor node note
Sending time TOE is recorded, and transmits this information to location-server；
D：After label node receives wireless data, sign in TOA, and this time is T4, when being positioned, needs more
A TOF, label node wait multiple anchor node response wireless data packets, record multiple T4；
E：Label is immediately sent the time T1 and T4 of local record using wireless data packet, and the prefix of wireless data packet is
0xF4；
F：Anchor node receives the message of F4 prefix, and there is the be connected to the network and the smallest anchor node in address to forward this information to
Location-server；
G：Location-server carries out ageing pairing, the TOF and distance of acquisition label to multiple anchor nodes；
H：Location-server carries out positioning analysis calculating, is merged with the result of TDOA positioning.
7. according to the method described in claim 6, it is characterized in that, after anchor node receives the interrogation signals of label node, such as
There are ranging nodes for fruit, then label node sniff, then sends, and record local TOE, and anchor node records TOA, and TOA information was both used
It is positioned in TDOA, is also used for TOF positioning.
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Application publication date: 20181116 |