CN108896960B - Positioning system and path guiding system and method thereof - Google Patents
Positioning system and path guiding system and method thereof Download PDFInfo
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- CN108896960B CN108896960B CN201810667536.7A CN201810667536A CN108896960B CN 108896960 B CN108896960 B CN 108896960B CN 201810667536 A CN201810667536 A CN 201810667536A CN 108896960 B CN108896960 B CN 108896960B
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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
- G01S5/0009—Transmission of position information to remote stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
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Abstract
The positioning system comprises a device to be positioned, which is provided with a ranging antenna and a direction-finding antenna, wherein the positioning base station system is communicated with the ranging antenna to calculate the position of the ranging antenna, the direction-finding base station system is communicated with the direction-finding antenna, the positioning system records communication time information between the direction-finding base station system and the direction-finding antenna, and the position of the direction-finding antenna is calculated through the communication time information, the distance between the ranging antenna and the direction-finding antenna, the position of the ranging antenna and the position of the direction-finding base station system. The invention can not only obtain the position coordinates of the device to be positioned, but also determine the orientation of the device to be positioned relative to the positioning base station system, thereby guiding the person to be positioned to enter the preset route from two layers of direction and position when the visibility of the path to be guided is low or the person to be positioned cannot distinguish the direction.
Description
Technical Field
The present disclosure relates to the field of communications, and more particularly, to the field of positioning and navigation.
Background
The short-distance and high-precision wireless indoor positioning technology is widely applied to urban dense areas and indoor closed spaces, such as safety monitoring and emergency rescue of people. And transportation management, distribution scheduling of materials, and the like. In recent years, dangerous accidents such as fire disasters and the like occur frequently in buildings, and due to the limitation of rescue time and the survival speed of rescuers, the rescue efficiency can be greatly improved by guiding trapped people to rescue automatically. The method has the advantages that the position information of the trapped person is firstly required to be known for self-help rescue, the positioning system in the prior art can only obtain the position information of the target to be positioned, and when the target to be positioned gets lost in the direction of a building, the off-site control center cannot guide the target to be positioned to enter a safe escape route according to the measured position information of the target to be positioned.
Therefore, the technical staff in the art needs to solve the problem how to know the direction information of the target to be positioned based on the path to be guided on the basis of knowing the position information of the target to be positioned, so as to realize the path guidance of the target to be positioned.
Disclosure of Invention
According to one aspect of the invention, a positioning system is disclosed, which comprises a device to be positioned, a positioning base station system and a direction-finding base station system. The device to be positioned is provided with a ranging antenna and a direction finding antenna, and the distance between the ranging antenna and the direction finding antenna is known; the positioning base station system and the ranging antenna are communicated to calculate the position of the ranging antenna; the direction-finding base station system and the direction-finding antenna form communication, the positioning system records communication time information between the direction-finding base station system and the direction-finding antenna, and the position of the direction-finding antenna is resolved through the communication time information, the distance between the distance-measuring antenna and the direction-finding antenna, the position of the distance-measuring antenna and the position of the direction-finding base station system.
In accordance with another aspect of the present invention, a route guidance system is disclosed, comprising a positioning system as described above and a central controller. The central controller is used for sending a traveling instruction to the device to be positioned according to the positions of the ranging antenna and the direction finding antenna and a preset path.
In accordance with still another aspect of the present invention, there is disclosed a path guidance method including: a distance measuring antenna and a direction measuring antenna with known distances are arranged on a device to be positioned; communicating with a ranging antenna by using a positioning base station system to determine the position of the ranging antenna; communicating with a direction-finding antenna by using a direction-finding base station system to obtain communication time information; calculating the position of the direction-finding antenna through the communication time information, the distance between the distance-finding antenna and the direction-finding antenna, the position of the distance-finding antenna and the position of the direction-finding base station system; and determining the position and the orientation of the device to be positioned in the path to be guided according to the position of the ranging antenna, the position of the direction-finding antenna and the position of the direction-finding base station system.
The invention has the advantages that the position coordinate of the MS of the device to be positioned can be obtained, and the orientation of the MS relative to the positioning base station can be determined, so that when the visibility of the path to be guided is low or the direction of the person to be positioned cannot be distinguished, the person to be positioned is guided to enter the preset route from the two layers of direction and displacement.
Drawings
FIG. 1 is a block diagram of a route guidance system 100 according to an embodiment of the invention;
FIG. 2 provides a schematic representation of the geometry of the components within the path guidance system 100 of the embodiment shown in FIG. 1;
FIG. 3 is a schematic diagram of another exemplary path guidance system 300 according to the present invention;
FIG. 4 is a schematic diagram of another route guidance system 400 according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating an application scenario of the route guidance system 500 according to an embodiment of the present invention;
fig. 6 is a block diagram of a positioning base station 600 according to an embodiment of the invention;
FIG. 7 illustrates a modular schematic of a device 700 to be positioned, according to an embodiment of the invention;
FIG. 8 is a flow chart of a method 800 for path steering according to an embodiment of the invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order to avoid obscuring the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Like reference numerals refer to like elements. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic structural diagram of a route guidance system 100 according to an embodiment of the present invention. The path guidance system 100 comprises a positioning system, which illustratively comprises a positioning base station system, a direction finding base station system, and a device to be positioned MS, and a central controller (not shown in the figure). The device MS to be positioned comprises a ranging antenna and a direction finding antenna, wherein the distance between the ranging antenna and the direction finding antenna is known. And the positioning base station system and the ranging antenna are communicated to calculate the position of the ranging antenna. And communication is formed between the direction-finding base station system and the direction-finding antenna. The positioning system records communication time information between the direction-finding base station system and the direction-finding antenna, and the position of the direction-finding antenna is calculated according to the communication time information, the distance between the distance-finding antenna and the direction-finding antenna, the position of the distance-finding antenna and the position of the direction-finding base station system.
In the embodiment shown in fig. 1, the positioning base station system comprises a positioning base station BS1 and a positioning base station BS2, wherein the positioning base station BS1 and the positioning base station BS2 are fixed in the path to be guided and the device to be positioned MS is movable. In one embodiment, the location of positioning base station BS1 and positioning base station BS2 in the path to be guided is known in advance, e.g., the positioning base stations have been laid in the path in the building in advance. In yet another embodiment, the positions of positioning base station BS1 and positioning base station BS2 in the path to be guided are not known in advance, positioning base station BS1 and positioning base station BS2 are placed in the path to be guided in a certain known reference relationship, for example, positioning base station BS1 is placed at the entrance of the path to be guided, positioning base station BS2 is placed along a certain boundary (e.g., a wall) of the path to be guided, and the distance between positioning base station BS1 and positioning base station BS2 can be measured by self-ranging to determine the position of positioning base station BS 2. In the embodiment shown in fig. 1, ranging between positioning base station BS1 and positioning base station BS2 is implemented by two-way ranging. The positioning base station BS1 transmits a ranging signal S1-2 to the positioning base station BS2 through an antenna ABS1, the positioning base station BS2 receives the ranging signal S1-2 and then returns the ranging signal S1-2 to the positioning base station BS1 through an antenna ABS2, and the positioning base station BS1 obtains the distance between the positioning base station BS1 and the positioning base station BS2 through the time difference between the transmission and the reception of the ranging signal S1-2. The positioning system obtains the positions of the positioning base station BS1 and the positioning base station BS2 in the path to be guided through the known reference relationship between the positioning base station BS1 and the positioning base station BS2 placed in the path to be guided and the distance between the positioning base station BS1 and the positioning base station BS 2. In a further embodiment, the positions of the positioning base station BS1 and the positioning base station BS2 in the path to be guided are not known in advance, the positioning base station BS2 can be implemented by temporary laying, and the laying equipment or the laying personnel is equipped with an antenna for measuring the distance between the positioning base station BS2 and the positioning base station BS1 and an antenna for measuring the angle between the positioning base station BS2 and the positioning base station BS1 with respect to a certain reference, by which the position of the positioning base station BS2 can be determined.
In the embodiment shown in fig. 1, the device MS to be positioned comprises a ranging antenna a0 for receiving or transmitting ranging signals with the positioning base station BS1 and the positioning base station BS2 for measuring the distance between the ranging antenna a0 and the positioning base station BS1 and the distance between the ranging antenna a0 and the positioning base station BS2 by two-way ranging. Specifically, in the embodiment shown in FIG. 1, positioning base station BS1 transmits ranging signal S1-M, ranging antenna A0 receives ranging signal S1-M and returns it to positioning base station BS1, and positioning base station BS1 obtains the distance between positioning base station BS1 and ranging antenna A0 by the time difference between the transmission and reception of ranging signal S1-M. Similarly, positioning base station BS2 transmits ranging signal S2-M, ranging antenna A0 receives ranging signal S2-M and returns it to positioning base station BS2, and positioning base station BS2 obtains the distance between positioning base station BS2 and ranging antenna A0 by the time difference between the transmission and reception of ranging signal S2-M. Of course, those skilled in the art will appreciate that in another embodiment, the distance between ranging antenna A0 and positioning base stations BS1 and BS2 may be determined by ranging antenna A0 first transmitting ranging signals to positioning base stations BS1 and BS2, respectively, and positioning base stations BS1 and BS2 receiving the ranging signals and then returning them to ranging antenna A0. The positioning system obtains the position coordinates of the ranging antenna A0 by solving the triangle through the distances between the positioning base station BS1 and the positioning base station BS2 and the ranging antenna A0 and the position coordinates of the positioning base station BS1 and the positioning base station BS 2.
In one embodiment, the positioning system utilizes a TDOA positioning algorithm to achieve positioning of ranging antenna A0, in which case the positioning system includes at least three positioning base stations with known locations. In one embodiment, the positioning base stations transmit positioning signals to the ranging antenna a0, and the positioning system records the time difference of the arrival of the positioning signals transmitted by each positioning base station at the ranging antenna a0 and uses the time difference and the position information of each positioning base station to calculate the position information of the ranging antenna a 0. In another embodiment, ranging antenna a0 transmits a positioning signal, and the positioning system records the time difference of the positioning signal reaching each positioning base station and uses the time difference and the position information of each positioning base station to calculate the position information of ranging antenna a 0.
The above embodiments illustrate the use of dual ranging location and TDOA location algorithms to resolve ranging antenna A0 location information, however, it should be understood by those skilled in the art that any method of resolving ranging antenna A0 location information by communicating between a positioning base station system and a ranging antenna is suitable for and part of the present invention.
In the embodiment shown in fig. 1, the device MS to be positioned also comprises direction finding antennas a1 and a2, wherein the direction finding antennas a1 and a2 are collinear with the ranging antenna a0 and their distance to the ranging antenna a0 is known. In one embodiment, the distances between direction-finding antennas a1 and a2 and ranging antenna a0 are equal, and in other embodiments, the distances between direction-finding antennas a1 and a2 and ranging antenna a0 may not be equal. In the embodiment shown in fig. 1, the direction-finding base station system multiplexes the positioning base station BS1 in the positioning base station system to serve as a direction-finding base station, and the direction-finding base station BS1 transmits two direction-finding signals, S-TD1 and S-TD2, respectively, wherein the direction-finding signal S-TD1 and the direction-finding signal S-TD2 have a known transmission timing relationship. In one embodiment, two direction finding signals S-TD1 and S-TD2 are transmitted at a known time interval; in another embodiment, two direction finding signals S-TD1 and S-TD2 are transmitted simultaneously. In yet another embodiment, the direction-finding base station BS1 transmits a direction-finding signal that is received by direction-finding antennas a1 and a2, respectively. The direction-finding antennas A1 and A2 of the device MS to be positioned receive two direction-finding signals S-TD1 and S-TD2 respectively, and the device MS to be positioned records the time information that the direction-finding antennas A1 and A2 receive the direction-finding signals S-TD1 and S-TD2 respectively so as to obtain the time difference TD of the direction-finding antennas A1 and A2 receiving the direction-finding signals S-TD1 and S-TD 2. Using the time difference TD, the position coordinates of the ranging antenna a0 and the direction-finding base station BS1, and the distance between the ranging antenna a0 and the direction-finding antennas a1 and a2, the orientation angles of the direction-finding antennas a1 and a2 with respect to the direction-finding base station BS1 can be obtained. In the present invention, the orientation angles of the direction finding antennas a1 and a2 with respect to the direction finding base station BS1 can also be described as the orientation angle of the device to be positioned MS with respect to the direction finding base station BS 1. To more clearly illustrate the above-described geometry, FIG. 2 provides a schematic illustration of the geometry of the components within the path guidance system 100 of the embodiment shown in FIG. 1.
As shown in FIG. 2, by ranging two by two between the positioning base station BS1, the positioning base station BS2 and the ranging antenna A0, a distance L1-2 between the positioning base station BS1 and the positioning base station BS2, a distance L1-M between the positioning base station BS1 and the ranging antenna A0, and a distance L2-M between the positioning base station BS2 and the ranging antenna A0 can be obtained. By using the distance between each two of the positioning base station BS1, the positioning base station BS2 and the ranging antenna a0 and the position coordinates of the positioning base station BS1 and the positioning base station BS2, the position coordinates of the ranging antenna a0 can be obtained through the operation of solving the triangle. In the present invention, the position coordinates of ranging antenna a0 may also be described as the position coordinates of the device MS to be positioned. In the embodiment shown in fig. 1, the direction-finding base station system multiplexes the positioning base station BS1 in the positioning base station system as a direction-finding base station, and the direction-finding base station BS1 transmits two paths of direction-finding signals, i.e., S-TD1 and S-TD2 (see fig. 1), to the device MS to be positioned, where the direction-finding signal S-TD1 and the direction-finding signal S-TD2 have a known transmission timing relationship. In one embodiment, the two direction-finding signals are transmitted at a known time interval; in another embodiment, two direction-finding signals are transmitted simultaneously. The direction-finding base station BS1 transmits a direction-finding signal S-TD1 and a direction-finding signal S-TD2 to direction-finding antennas A1 and A2, the direction-finding antennas A1 and A2 receive the direction-finding signal S-TD1 and the direction-finding signal S-TD2 respectively, and the time difference TD of the two direction-finding signals reaching the direction-finding antennas is recorded, so that the distance differences LTD1-LTD2 from the direction-finding base station BS1 to the direction-finding antennas A1 and A2 can be obtained, wherein the LTD1 is the distance between the direction-finding base station BS1 and the direction-finding antenna A1, and the LTD2 is the distance between the direction-finding base station BS1 and the direction-finding antenna A2. In the embodiment shown in fig. 2, the three antennas of the device MS to be positioned, namely antenna a0, antenna a1 and antenna a2, are collinear, and the distance between antenna a1 and antenna a2 is known as LM. By using the distance difference LTD1-LTD2 from the direction-finding base station BS1 to the direction-finding antenna A1 and the antenna A2 of the device MS to be positioned, the position coordinates of the distance-finding antenna A0 and the distance LM between the direction-finding antennas A1 and A2, one branch of a hyperbola with the antennas A1 and A2 as focuses can be obtained, and the direction-finding base station BS1 is positioned on the hyperbola, so that the specific positions of the direction-finding antennas A1 and A2 can be calculated, and the orientation of the device MS to be positioned can be determined. More specifically, by using the distance L1-M between the direction-finding base station BS1 and the ranging antenna a0, an angle θ between a connection line of two focuses of the hyperbola, i.e., a connection line between the antenna a1 and the antenna a2, and a connection line between the direction-finding base station BS1 and the antenna a0 can be obtained, and the angle θ represents the orientation of the device MS to be positioned.
In the embodiment shown in fig. 1, the positioning system multiplexes a positioning base station in the positioning base station system as a direction-finding base station. However, it will be appreciated by those skilled in the art that in other embodiments, the direction-finding base station may be a different base station than the positioning base station. In addition, in one embodiment, a plurality of base stations are laid on the path to be guided, and the positioning system may select one of the base stations that is closest to the device MS to be positioned as a direction-finding base station, regardless of whether the base station is a positioning base station in the positioning base station system.
In the embodiment shown in fig. 1-2, the device MS to be positioned comprises two direction finding antennas a1 and a 2. However, it will be appreciated by those skilled in the art that in another embodiment, the device MS to be located may multiplex the ranging antenna a0 as a direction finding antenna.
The path guidance system 100 shown in fig. 1 and 2 further includes a central controller for issuing travel commands to the device to be positioned MS based on the positions of ranging antenna a0 and direction finding antennas a1 and a2 and a preset path.
Fig. 3 illustrates a path guidance system 300 according to yet another embodiment of the invention. Compared with the path guidance system 100 shown in fig. 1 and 2, in the path guidance system 300, the direction-finding base station system includes two direction-finding base stations which multiplex the positioning base stations BS1 and BS2 in the positioning base station system, and the device to be positioned MS includes one direction-finding antenna a1, and the distance between the direction-finding antenna a1 and the ranging antenna a0 is known. The two direction finding base stations BS1 and BS2 transmit direction finding signals S-TD1 and S-TD2 to the direction finding antenna a 1. The direction finding signals S-TD1 and S-TD2 have a known transmission timing relationship, and in one embodiment, the direction finding signals S-TD1 and S-TD2 are transmitted simultaneously, and in another embodiment, the direction finding signals S-TD1 and S-TD2 are transmitted sequentially at known intervals. And the positioning system records the time difference of the direction-finding signals S-TD1 and S-TD2 reaching the direction-finding antenna A1, and further obtains the distance difference between the direction-finding base stations BS1 and BS2 and the direction-finding antenna A1. The route guidance system 300 can obtain one branch of a hyperbola with the direction-finding base stations BS1 and BS2 as the focal point based on the distance difference and the position coordinates of the direction-finding base stations BS1 and BS2, and the direction-finding antenna a1 is located on the hyperbola, and can calculate the specific position of the direction-finding antenna a1 based on the position coordinates of the distance-finding antenna a0 and the distance between the direction-finding antenna a1 and the distance-finding antenna a 0. Thereby further, the orientation of the device MS to be positioned can be determined with respect to the direction finding base station BS1 or BS 2.
Fig. 4 illustrates a path guidance system 400 according to yet another embodiment of the invention. In contrast to the route guidance system 100 shown in fig. 1 and 2, in the route guidance system 400, the device MS to be positioned includes a direction-finding antenna a1, and the distance between the direction-finding antenna a1 and the ranging antenna a0 is known. The path guidance system 400 uses the positioning base station BS1 as a direction-finding base station that receives or transmits ranging signals S-TD1 between the direction-finding base station BS1 and the direction-finding antenna a1 to measure the distance between the direction-finding base station BS1 and the direction-finding antenna a1 through two-way ranging. Specifically, in the embodiment shown in FIG. 4, the direction-finding base station BS1 transmits a direction-finding signal S-TD1, and the direction-finding antenna A1 receives the direction-finding signal S-TD1 and returns the direction-finding signal S-TD1 to the direction-finding base station BS 1. Of course, in another embodiment, the direction-finding antenna a1 may transmit the direction-finding signal S-TD1, and the direction-finding base station BS1 returns the direction-finding signal S-TD1 to the direction-finding antenna a1 after receiving the direction-finding signal. The path guidance system 400 obtains a circle with the center of the direction-finding base station BS1 as the center of a circle and the radius of the distance by using the distance between the direction-finding base station BS1 and the direction-finding antenna a1 and the position coordinate of the direction-finding base station BS1, and obtains another circle with the center of the circle and the radius of the distance between the distance-finding antenna a0 and the distance between the distance-finding antenna a0 and the direction-finding antenna a1 by using the position coordinate of the distance-finding antenna a0 and the distance between the distance-finding antenna a0 and the direction-finding antenna a 1. The intersection of the two circles is the specific location of direction-finding antenna a 1. Further, the orientation of the device MS to be positioned with respect to the direction finding base station BS1 can thus be determined.
As can be seen from the embodiments shown in fig. 1 to 4, in the present invention, the communication formed between the direction-finding base station system and the direction-finding antenna may be two-way communication or one-way communication, may be bidirectional communication or unidirectional communication, may be that the direction-finding base station system transmits a signal and the direction-finding antenna receives a signal, or vice versa, and should be determined according to a specific communication structure. Accordingly, according to different communication methods, the time information of communication between the direction-finding base station system and the direction-finding antenna may be time or time difference.
In the embodiments shown in fig. 1 to 4, the positioning base station is reused as a direction-finding base station, but it should be understood by those skilled in the art that, in other embodiments, the direction-finding base station in the direction-finding base station system may not necessarily reuse the positioning base station in the positioning base station system, or may reuse part of the positioning base stations in the positioning base station system.
In one embodiment, the path to be guided includes a plurality of base stations, and the direction-finding base station is a base station closest to the direction-finding antenna among the base stations.
In one embodiment, the ranging signals and the direction finding signals are Ultra Wide Band (UWB) signals.
In the embodiment of the invention, not only can the position coordinate of the device MS to be positioned be obtained, but also the orientation of the device MS to be positioned relative to the positioning base station can be determined, so that when the visibility of a path to be guided is low, or a person to be positioned cannot distinguish the direction, the person to be positioned is guided to enter a preset route from two layers of the direction and the displacement. For example, in the case of fire fighting, the firefighters in the building with the fire may not recognize the rescue or escape route due to the thick smoke, and at this time, the present invention can be used to guide the fire.
Fig. 5 is a schematic diagram of an application scenario of the route guidance system 500 according to an embodiment of the present invention. Therein, the path guidance system 500 exemplarily comprises a positioning base station BS1, a positioning base station BS2 and a positioning base station BS3, and a device to be positioned MS. The position coordinates of the device to be positioned MS can be obtained by ranging between the two positioning base stations BS1 and BS2 that are closest to the device to be positioned MS, and ranging between the positioning base station BS1 and the positioning base station BS2 and the device to be positioned MS, respectively. In one embodiment, the method for determining the two positioning base stations closest to the device to be positioned MS includes controlling all the positioning base stations in the path to be guided where the device to be positioned MS is located to perform ranging with the device to be positioned MS, selecting the two positioning base stations closest to each other as direction finding base stations in the embodiments shown in fig. 1 or fig. 2, and implementing the subsequent steps. The route to be reached of the device MS to be positioned in the embodiment shown in fig. 5 is shown by the arrow in fig. 5, and therefore, the positioning base station BS2 is the positioning base station closest to the device MS to be positioned in the route to be reached, so that the path guidance system 500 uses the positioning base station BS2 as a direction finding base station and controls the direction finding base station BS2 to transmit a direction finding signal to the device MS to be positioned. And the method of the embodiment shown in fig. 2 is used to determine the position and the orientation of the device to be positioned MS, and the central controller sends a traveling instruction to the device to be positioned MS according to the position and the orientation of the device to be positioned MS, so that the device to be positioned MS enters the route to be reached. The path guidance system 500 repeats the above steps every certain interval, so as to obtain the position and the orientation of the device to be positioned MS after the next time interval, until the end point is reached, and guidance is completed.
Fig. 6 is a block diagram of a positioning base station 600 according to an embodiment of the invention. The positioning base station 600 includes a ranging module 601, a direction-finding signal transmitting module 602, a wireless communication module 603, and an antenna 604. The ranging module 601 is used for implementing a ranging function with a device to be positioned MS or other positioning base stations. In one embodiment, the ranging module 601 generates a positioning signal and transmits the positioning signal to another device ranging with the antenna 604, the antenna 604 also receives a positioning signal returned by the other device ranging with the antenna 604 and transmits the positioning signal back to the ranging module 601, the ranging module 601 obtains distance information between the positioning base station 600 and the other device by calculating time difference information between the transmission of the positioning signal and the reception of the returned positioning signal and transmits the distance information to the wireless communication module 603, and the wireless communication module 603 transmits the distance information to the central controller. In another embodiment, the antenna 604 receives positioning signals transmitted by other devices and transmits the positioning signals to the ranging module 601, and the ranging module 601 returns a ranging signal through the antenna 604. The path guidance system sends a direction-finding instruction to the positioning base station 600, the wireless communication module 603 receives the direction-finding instruction and then transmits the direction-finding instruction to the direction-finding signal transmitting module 602, and the direction-finding signal transmitting module 602 transmits a direction-finding signal to the device to be positioned MS after receiving the direction-finding instruction, where the direction-finding signal may be one path of signal or two paths of signals with known transmission time intervals. In one embodiment, the ranging signal and the direction finding signal are both ultra-wideband signals. In another embodiment, the positioning base station 600 replaces the direction-finding signal transmitting module with a direction-finding signal receiving module, receives the direction-finding signal sent by the device to be positioned MS, records the time information of the direction-finding signal reaching itself, and calculates the time difference between the direction-finding signal and the positioning base station by using the time information recorded by other positioning base stations, so as to obtain the direction information of the device to be positioned.
FIG. 7 illustrates a block diagram of a device 700 to be positioned, in accordance with one embodiment of the present invention. The device 700 to be positioned comprises a ranging module 701, a direction finding signal receiving module 702, a wireless communication module 703, a ranging antenna 704, and a first direction finding antenna 705 and a second direction finding antenna 706. The ranging module 701 in the device 700 to be positioned has the same function as the ranging module 601 in the positioning base station 600, and is used for realizing the ranging function with other devices. In one embodiment, the ranging module 701 generates a positioning signal and transmits the positioning signal to another device ranging with the ranging module via the ranging antenna 704, the ranging antenna 704 also receives a positioning signal returned by the other device ranging with the ranging antenna 704 and transmits the positioning signal back to the ranging module 701, the ranging module 701 obtains distance information between the device 700 to be positioned and the other device by calculating time difference information between the transmission of the positioning signal and the reception of the returned positioning signal and transmits the distance information to the wireless communication module 703, and the wireless communication module 703 transmits the distance information to the central controller. In another embodiment, the ranging antenna 704 receives positioning signals transmitted by other devices and transmits the positioning signals to the ranging module 701, and the ranging module 701 returns a ranging signal through the ranging antenna 704. The first direction-finding antenna 705 and the second direction-finding antenna 706 respectively receive a direction-finding signal from a certain positioning base station and transmit the direction-finding signal to the direction-finding signal receiving module 702, and the direction-finding signal receiving module 702 records time information when a ranging signal respectively reaches the first direction-finding antenna 705 and the second direction-finding antenna 706, where in an embodiment, the time information is time difference information. The direction-finding signal receiving module 702 transmits the time information to the wireless communication module 703, and the wireless communication module further transmits the time information to the central controller. In one embodiment, ranging antenna 704 may be multiplexed with first side antenna 705 or second side antenna 706. In another embodiment, the device 700 to be positioned replaces the direction-finding signal receiving module with a direction-finding signal transmitting module, and the direction-finding signal transmitting module generates a direction-finding signal and transmits the direction-finding signal to two direction-finding base stations through a certain lateral antenna, which is different from the ranging antenna 704.
Fig. 8 presents a flowchart of a method 800 for path guidance in a path to be guided in accordance with an embodiment of the present invention. The route guidance method 800 includes:
step 801: arranging a distance measuring antenna and a direction measuring antenna with known distances on a device to be positioned;
step 802: the position of the ranging antenna is determined by utilizing the communication between the positioning base station system and the ranging antenna;
step 803: communicating with a direction-finding antenna by using a direction-finding base station system to obtain communication time information;
step 804: calculating the position of the direction-finding antenna through the communication time information, the distance between the distance-finding antenna and the direction-finding antenna, the position of the distance-finding antenna and the position of the direction-finding base station system;
step 805: and determining the position and the orientation of the device to be positioned relative to the direction-finding base station system according to the position of the distance measuring antenna, the position of the direction-finding antenna and the position of the direction-finding base station system.
In one embodiment, the path guiding method 800 further includes arranging a plurality of positioning base stations in the path to be guided, and transmitting and receiving ranging signals between every two adjacent positioning base stations to perform mutual ranging so as to determine the positions of the positioning base stations in the path to be guided. In one embodiment, a wireless link is established between every two adjacent positioning base stations to realize remote relay transmission of information. The information may be the position of the ranging antenna, the position of the direction finding base station system, or the communication time information. In one embodiment, the method 800 for guiding a path further includes issuing a travel command to the device to be positioned according to the position and orientation of the device to be positioned in the path to be guided and a preset path.
The invention discloses a path guiding device, a system and a method thereof, which can realize positioning of a device MS to be positioned and determine the orientation of the device MS relative to a positioning base station, thereby guiding a person to be positioned to enter a preset route from two layers of direction and displacement when the visibility of the path to be guided is low or the direction of the person to be positioned cannot be distinguished.
As noted above, while the preferred embodiments of the invention have been illustrated and described, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiments. Rather, the invention should be determined entirely by reference to the claims that follow.
Claims (12)
1. A positioning system, comprising:
the device to be positioned is provided with a ranging antenna and a direction finding antenna, and the distance between the ranging antenna and the direction finding antenna is known;
the positioning base station system is communicated with the ranging antenna to calculate the position of the ranging antenna; and
the positioning system records the time information of communication between the direction-finding base station system and the direction-finding antenna and calculates the position of the direction-finding antenna through the communication time information, the distance between the distance-measuring antenna and the direction-finding antenna, the position of the distance-measuring antenna and the position of the direction-finding base station system;
the positioning system determines the position and the orientation of the device to be positioned relative to the direction-finding base station system according to the position of the distance-measuring antenna, the position of the direction-finding antenna and the position of the direction-finding base station system;
the position of the device to be positioned is represented by the position of the ranging antenna, and the orientation of the device to be positioned is represented by an included angle between a connecting line of the direction-finding antenna and the ranging antenna and a connecting line of the ranging antenna and the ranging base station.
2. The positioning system of claim 1, wherein the positioning base station system comprises a first positioning base station and a second positioning base station, wherein ranging signals are transceived between the first positioning base station and the ranging antenna and between the second positioning base station and the ranging antenna to measure distances between the first positioning base station and the ranging antenna and between the second positioning base station and the ranging antenna to resolve the position of the ranging antenna by the distance between the first positioning base station and the ranging antenna, the distance between the second positioning base station and the ranging antenna, and the positions of the first positioning base station and the second positioning base station.
3. The positioning system of claim 2, wherein the location of the first positioning base station is known and the location of the second positioning base station is resolved by transceiving ranging signals between the first positioning base station and the second positioning base station to measure the distance between the first positioning base station and the second positioning base station.
4. The positioning system of claim 1, wherein the direction-finding base station system comprises a direction-finding base station, the direction-finding antenna comprises a first direction-finding antenna and a second direction-finding antenna, the direction-finding base station communicates with the first direction-finding antenna and the second direction-finding antenna respectively to obtain communication time differences of two-way communication, and the positioning system resolves the position of the first direction-finding antenna through the communication time differences, the distance between the ranging antenna and the first direction-finding antenna, the position of the ranging antenna and the position of the direction-finding base station.
5. The positioning system of claim 1, wherein the direction-finding base station system comprises a first direction-finding base station and a second direction-finding base station, the first direction-finding base station and the second direction-finding base station communicate with the direction-finding antenna respectively to obtain a communication time difference of two-way communication, and the positioning system calculates the position of the direction-finding antenna by the communication time difference, the distance between the distance-measuring antenna and the direction-finding antenna, the position of the distance-measuring antenna, and the positions of the first direction-finding base station and the second direction-finding base station.
6. The location system of claim 1, wherein the location base station system and the direction-finding base station system multiplex base stations to resolve the locations of the ranging antennas and the direction-finding antennas.
7. A path guidance system, comprising:
the positioning system of any one of claims 1 to 6; and
and the central controller is used for sending a traveling instruction to the device to be positioned according to the positions of the ranging antenna and the direction finding antenna and a preset path.
8. The path guidance system according to claim 7, wherein the positioning system includes a plurality of base stations, and the positioning base station included in the positioning base station system and the direction-finding base station included in the direction-finding base station system are base stations closest to the device to be positioned in the positioning system.
9. A method of route guidance in a route to be guided, comprising:
arranging a distance measuring antenna and a direction measuring antenna with known distances on a device to be positioned;
communicating with the ranging antenna by using the positioning base station system to determine the position of the ranging antenna;
communicating with a direction-finding antenna by using a direction-finding base station system to obtain communication time information;
calculating the position of the direction-finding antenna through the communication time information, the distance between the distance-finding antenna and the direction-finding antenna, the position of the distance-finding antenna and the position of the direction-finding base station system; and
determining the position and the orientation of a device to be positioned in a path to be guided according to the position of the ranging antenna, the position of the direction-finding antenna and the position of the direction-finding base station system;
the position of the device to be positioned is represented by the position of the ranging antenna, and the orientation of the device to be positioned is represented by an included angle between a connecting line of the direction-finding antenna and the ranging antenna and a connecting line of the ranging antenna and the ranging base station.
10. The path guidance method according to claim 9, further comprising arranging a plurality of positioning base stations in the path to be guided, and transceiving ranging signals between every two adjacent positioning base stations to range each other to determine the positions of the respective positioning base stations in the path to be guided.
11. The path guidance method according to claim 10, wherein a wireless link is established between every two adjacent positioning base stations to achieve remote relay delivery of information.
12. A path guidance method according to claim 9, further comprising issuing a travel instruction to the device to be positioned in dependence on the position and orientation of the device to be positioned in the path to be guided and a predetermined path.
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| CN110646778B (en) * | 2019-08-27 | 2023-05-09 | 四川中电昆辰科技有限公司 | Flight time difference acquisition system and method |
| GB2622778A (en) * | 2022-09-26 | 2024-04-03 | Nokia Technologies Oy | Orientation determination in telecommunication systems |
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