CN108966125A - A kind of high precision wireless indoor orientation method based on ultra wide band - Google Patents
A kind of high precision wireless indoor orientation method based on ultra wide band Download PDFInfo
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- CN108966125A CN108966125A CN201810730012.8A CN201810730012A CN108966125A CN 108966125 A CN108966125 A CN 108966125A CN 201810730012 A CN201810730012 A CN 201810730012A CN 108966125 A CN108966125 A CN 108966125A
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
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Abstract
The invention discloses a kind of high precision wireless indoor orientation method based on ultra wide band, this uses independent synchronous base station and dipulse synchronization signal, and matched algorithm, evade day wire delay completely to radio ultra wide band system ranging bring error, and greatly reduces the influence of the drift of crystal oscillator.
Description
Technical field
The present invention relates to super broad band radio communication fields, and in particular to a kind of high precision wireless positioning side using ultra wide band
Method.
Background technique
Universal with Internet of Things and mobile device, location technology is used in more and more extensive scene.However,
Environment can not but provide satisfactory positioning service to global position system in the middle indoors.Currently, in the system of indoor positioning
Main location technology to be used includes bluetooth, Wi-Fi, ultrasonic wave etc..Existing technology is in deployment cost, positioning accuracy, convenience
Property stability in terms of respectively possess oneself advantage and short slab, not occurring has system as outdoor global position system
Control the technology of power.
Super-broadband tech (UWB) works on an extremely wide electromagnetic spectrum, is communicated using the pulse of nanosecond,
Therefore, penetration capacity of the technology in signal, ability of anti-multipath have unique advantage in anti-channel fading ability.Compared to it
His location technology, the technology can provide the more reliable and higher positioning service of precision, and the complexity of system is relatively low.
There are two types of station-keeping mode, TOA (Time of Arrival) and TDOA (Time for current UWB positioning system
Difference of Arrival).TOA mode needs to carry out 1-2 data exchange between user and locating base station to obtain use
The distance between family and base station information, and then calculate the position of user.This method needs monitoring signal, power consumption due to user terminal
It is relatively high.TDOA mode only needs user's broadcast singal, and the signal of base station monitoring users sends back server.In known base
It stands in the case where clock difference, the position of user can be resolved.Low-power consumption may be implemented in this mode user terminal.
Generally, UWB system is to obtain accurate positioning, it is necessary to accurately measure when sending and receiving of electromagnetic wave
Between, electromagnetic wave flying distance in prediction on such basis.However, having certain delay after signal reaches antenna and just reaching chip, received
Timestamp, equally, when sending, signal is issued by chip, also has certain delay just to issue from antenna.Due to the precision of technique,
The day wire delay of each equipment is not fully identical, but since the light velocity is exceedingly fast, and the time of 1ns can bring about the error of 30cm.
Therefore, typical high-precision UWB system requires to be corrected the antenna error of each equipment.
Work is same in the UWB system of TDOA mode, and after clock synchronizes, at least each monitoring antenna for base station error needs
Correction and compensation.Simultaneously as there are fine differences for the crystal oscillator of each equipment, understand with time shift, so, the synchronous meeting of clock
Fail in a short time, it is synchronous to need continually to carry out clock.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of high precision wireless room based on ultra wide band
Interior localization method has evaded the influence of day wire delay using passive type dipulse wireless synchronization technology, completely without correction day
Wire delay, while error caused by crystal oscillator drifts about is reduced to greatest extent, promote positioning accuracy.
The present invention provides a kind of high precision wireless indoor orientation method based on ultra wide band, need one based on ultra wide band
Wireless synchronization positioning system, the system are one or several comprising several label models for needing to position according to laying place size
A synchronous base station, and (minimum system should include at least a positioning label, a synchronization for the more monitoring base stations of number
Base station and four monitoring base stations), a server for resolving and monitoring for position.
The label model positioned needed for described includes a UWB unit, is worked under low-power consumption mode, only by configuration timing
Positioning request signal is sent, signal includes the ID of the label, and in the more scene of label, the timing Location Request of label needs
Increase a small stochastic variable on the fixed period to interact to prevent the Location Request of label to be overlapped for a long time.
Each synchronous base station includes the UWB unit of an energy receiving and transmitting signal, and the number of synchronous base station, which needs to meet, to exist
Any point in environment, all at least one, which synchronizes base station, can listen to the broadcast for the label sending for being in the point by least one
Synchronous base station receives.
Each base station of monitoring includes the UWB unit and a network module for being used for monitoring signal, network module
It is connected with server, the number that by the UWB result upload server of monitoring, can monitor base station needs to meet any in the environment
A bit, all at least there are four monitoring base station to receive the broadcast of label sending, in the edge area of synchronous base station covering
Also suitably to increase and monitor base station number.
The present invention is achieved by the following technical solutions: a kind of high precision wireless indoor positioning side based on ultra wide band
Method, steps are as follows:
A certain number of monitoring base stations according to the size in region, are installed to target area with synchronous base station by system installation
In the middle, the installation site of each base station is recorded to server；
Start the engine of positioning of server, if there is positioning label to be in target area, it will positioning request signal is sent, it should
Signal can be synchronized base station capture, and a very small interval will be arranged in synchronous base station, the interval after receiving Location Request
A synchronization signal is sent afterwards, and behind same interval, sends a synchronization signal again；Synchronous inside of base station has a meter
Number device, records the serial number of the synchronization signal of transmission, and the synchronization signal of transmission will carry the ID and the synchronization signal of synchronous base station
Serial number, to monitor identification of base stations；
Synchronous, the monitoring base station being in around label also receives the positioning request signal of label, also will receive hereafter same
The signal of base station is walked, monitoring base station needs to record the ID of the sender of each signal and the arrival time of signal, Suo Youshou
To the monitoring base station of signal all by the information reporting received to server；
It is resolved by server.
Preferably, in step 2, if having compared in the presence of multi-tag, same synchronous base station can respond two in succession and determine
Position request, at this point, a upper synchronization signal there is no entirely ineffective, can only send pulse synchronization signal, it is same for clock
Step.
The present invention is had the advantage that compared with prior art using passive type dipulse wireless synchronization technology, has evaded day
The influence of wire delay completely without correction day wire delay, while reducing error caused by crystal oscillator drifts about to greatest extent, and it is fixed to be promoted
Position precision.
Detailed description of the invention:
When Fig. 1 is a kind of positioning signal of high precision wireless indoor orientation method based on ultra wide band provided in this embodiment
Between line scene one；
When Fig. 2 is a kind of positioning signal of high precision wireless indoor orientation method based on ultra wide band provided in this embodiment
Between line scene two；
Fig. 3 is a kind of synchronization base station stream of high precision wireless indoor orientation method based on ultra wide band provided in this embodiment
Cheng Tu；
Fig. 4 is a kind of server process of the high precision wireless indoor orientation method based on ultra wide band provided in this embodiment
Location Request flow chart；
Fig. 5 is that a kind of label transmission of high precision wireless indoor orientation method based on ultra wide band provided in this embodiment is fixed
Position request；
Fig. 6 is a kind of synchronization base station hair of high precision wireless indoor orientation method based on ultra wide band provided in this embodiment
Send synchronization pulse.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
As shown in Figure 5,6, current embodiment require that a wireless synchronization positioning system based on ultra wide band, the system is according to cloth
If place size, comprising several label models for needing to position, one or several synchronize base station, and monitor for number is more
Base station (minimum system should include at least a positioning label, a synchronous base station and four monitoring base stations), one is used for
Position resolves and the server of monitoring.
The label model positioned needed for described includes a UWB unit, is worked under low-power consumption mode, only by configuration timing
Positioning request signal is sent, signal includes the ID of the label.In the more scene of label, the timing Location Request of label needs
Increase a small stochastic variable on the fixed period to interact to prevent the Location Request of label to be overlapped for a long time.
Each synchronous base station includes the UWB unit of an energy receiving and transmitting signal.The number of synchronous base station needs to meet
Any point in environment, all at least one, which synchronizes base station, can listen to the broadcast for the label sending for being in the point by least one
Synchronous base station receives.
Each base station of monitoring includes the UWB unit and a network module for being used for monitoring signal, network module
It is connected with server, it can be by the UWB result upload server of monitoring.The number for monitoring base station needs to meet any in the environment
A bit, all at least there are four monitoring base station to receive the broadcast of label sending, in the edge area of synchronous base station covering
Also suitably to increase and monitor base station number.
The step of positioning that the present embodiment proposes, is as follows:
A certain number of monitoring base stations according to the size in region, are installed to target area with synchronous base station by system installation
In the middle, the installation site of each base station is recorded to server.
The engine of positioning starting of following server, if there is positioning label to be in target area at this time, it will send positioning
Request signal.The signal can be synchronized base station capture, and synchronous base station will be arranged a very small interval, receive Location Request
A synchronization signal is sent behind the interval afterwards, and behind same interval, sends a synchronization signal again.In synchronous base station
There is a counter in portion, records the serial number of the synchronization signal of transmission.The synchronization signal of transmission will carry synchronous base station ID and
The serial number of the synchronization signal, to monitor identification of base stations, as shown in Figure 1.The synchronization signal hair an of dipulse is completed in this way
It send, in the presence of compared with multi-tag, same synchronous base station is possible to that two Location Requests can be responded in succession, at this point, upper one
A synchronization signal is there is no entirely ineffective, at this point it is possible to pulse synchronization signal is only sent, it is synchronous for clock, such as Fig. 2 institute
Show.
At the same time, the monitoring base station being in around label also receives the positioning request signal of label, can also receive hereafter
To the signal of synchronous base station.Monitoring base station needs to record the ID of the sender of each signal and the arrival time of signal.Institute
There is the monitoring base station for receiving signal all by the information reporting received to server, is resolved by server.
In the case where classics, there are four or above monitoring base station have received Location Request and from same synchronous base
It stands.Available following equation:
Wherein, ditIt is i-th of monitoring base station to the distance of label, C is the light velocity, TiPositioning is received for i-th of monitoring base station
The time of request, TtFor request transmission time.X, y, z are corresponding coordinate.
In such one group of equation, the coordinate of each base station is it is known that known to the light velocity.Unknown quantity be only label coordinate and
Sending time (xt,yt,zt,tt), so, as long as having more than the observation of four base stations, the position of label can be resolved.This
Before, required is exactly that the local time stamp that each monitoring base station receives signal is converted in unified clock.
It should be clear that due to consideration that day wire delay, the timestamp that any ultra-wideband devices receive signal are only
The timestamp that signal is perceived by chip, the time for being actually reached device antenna will be earlier than this, simultaneously because the difference of equipment crystal oscillator
Different, same section of real time, the difference of the timestamp embodied on different devices is unable to simple translation.
Cooperate Fig. 1 and Fig. 2 below, introduce the calculating process of time synchronization:
When label issues a positioning request signal, synchronous base station A0After receiving, two synchronous arteries and veins are regularly sent in succession
Rush signal.Sending time stamp is madeAny monitoring base station AiReceive the positioning request signal of label, A0Two it is same
Step signal timestamp be respectivelyIn another case, if synchronous base station just has sent synchronization signal,
Clock, which synchronizes, not to fail, and base station can only send a synchronization signal at this time, and this previous dipulse synchronization signal received
Article 2 will be utilized, and the transmitting-receiving time is denoted as
That we need to obtain is all monitoring base station AiReceive the real time of positioning request signalIt corresponds to same
Walk base station A0The timestamp of clock.In view of day wire delay, real time are as follows:
A is analyzed again0And AiThe corresponding relationship of time.In view of the day wire delay of two base stations, AiReceive A0First same
Walk the time corresponding A of signal0On time answer are as follows:
Wherein, Di0Indicate i-th of distance for monitoring the synchronous base station of base station distance.delayiIndicate that the antenna of each base station prolongs
Late.
FromCorresponding A0It is time (4), counter to push awayCorresponding A0On time:
This is corresponded in synchronous base station A0On timestamp be (1) in
In addition, k in formulai0The ratio of time speed between as i-th of base station and synchronous base station, due to the difference of crystal oscillator,
The clock rate of different base stations has small difference, so elapsing a period that cannot ignore at the same time
When, it needs to consider the rate difference of clock passage, is calculated by the pulse twice of synchronous base station.
It is calculated next, bringing (5) formula into (1),
If by (delay0-Tt) regard a unknown quantity as, it still can solve the coordinate (x of outgoing labelt,yt,zt)。
In view of under some cases, label is in the edge of synchronous base station covering, same synchronous base station signal is listened to
Base station is monitored less than four, then needs to consider that calculating is equally included in two synchronous base stations.
At this point, being equivalent to 5 known variables (xt,yt,zt,delay0-Tt,delay0'-Tt), need than one synchronization
The case where base station, more one group of observation data could solve.
It is whole silent in the operating condition due to monitoring base station, it does not need to send any signal, institute in ultra wideband frequency
With, in order to improve precision positioning accuracy and stability, the laying for monitoring base station is generally all more than the required amount of lower limit in base station, this
When, the residual error of each receiving time stamp for monitoring base station is estimated in the position that can be resolved according to least square method.It investigates and monitors base
Station receives the residual error of the time difference of request signal and synchronization signal:
At this point, be not 0 it is desirable to be worth since above formula does not exclude the day wire delay interference of synchronous base station, but
2delay0.Therefore, it is necessary to investigate each to monitor the difference for monitoring residual error average value in base station with other that base station calculates:
If it is more than a threshold value that some, which monitors the residual error of base station and the difference of the average value of all base stations, will need the base
The observation stood is rejected, and is made least-squares iteration again, is resolved the position of outgoing label.
Therefore a kind of server process of high precision wireless indoor orientation method based on ultra wide band provided in this embodiment is fixed
Position request flow chart, specific implementation process are as follows: receiving monitoring base station and report, summarize the signal of the same label, monitor base station
Whether quantity meets resolving minimum requirements, restarts if being unsatisfactory for, if satisfied, resolving label position, monitors base station number
Whether amount meets optimum results quantitative requirement, if being unsatisfactory for directly exporting as a result, calculating residual error if meeting, if there is base station residual
Difference is more than threshold value, if output direct without if as a result, rejecting respective base station observation if having, label position is resolved, such as Fig. 4 institute
Show.
A kind of synchronization base flow figure of high precision wireless indoor orientation method based on ultra wide band provided in this embodiment,
Specific implementation process is as follows: beginning listening for ultra-broadband signal, receives positioning request information, judge whether clock fails, if not losing
Effect, then send pulse synchronization signal, and refresh clock state monitors ultra-broadband signal again, if clock fails, sends double arteries and veins
Synchronization signal is rushed, refresh clock state monitors ultra-broadband signal, as shown in Figure 3 again.
It should be pointed out that examples detailed above is only used to illustrate the technical scheme of the present invention and not to limit it, the technology of this field
Personnel should understand that modify to technical solution of the present invention or replace on an equal basis, without departing from the substantive content of the technical program
And algorithm, it should all cover in the scope of the present invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (5)
1. a kind of high precision wireless indoor orientation method based on ultra wide band, which is characterized in that steps are as follows:
A certain number of monitoring base stations according to the size in region, are installed to target area with synchronous base station by step 1, system installation
In domain, the installation site of each base station is recorded to server；
Step 2, starts the engine of positioning of server, if there is positioning label to be in target area, it will send Location Request letter
Number, which can be synchronized base station capture, and a very small interval will be arranged in synchronous base station, being somebody's turn to do after receiving Location Request
A synchronization signal is sent behind interval, and behind same interval, sends a synchronization signal again；
Step 3 synchronizes in base station and sets counter, records the serial number of the synchronization signal of transmission, and the synchronization signal of transmission will carry same
The ID of base station and the serial number of the synchronization signal are walked, to monitor identification of base stations；
Step 4, synchronous, the monitoring base station being in around label also receives the positioning request signal of label, also will receive hereafter
The signal of synchronous base station, monitoring base station need to record the ID of the sender of each signal and the arrival time of signal；
Step 5, the information reporting that all monitoring base stations for receiving signal will all receive are resolved to server by server.
2. a kind of high precision wireless indoor orientation method based on ultra wide band according to claim 1, which is characterized in that institute
System is stated, the wireless synchronization positioning system based on ultra wide band is needed, which, according to place size is laid, includes several need
The label model to be positioned, one or several synchronize base station, and (minimum system should be extremely for the more monitoring base stations of number
Less include a positioning label, a synchronous base station and four monitoring base stations), a service for resolving and monitoring for position
Device；
The label model positioned needed for described includes a UWB unit, works under low-power consumption mode, only regularly sends by configuration
Positioning request signal, signal includes the ID of the label, and in the more scene of label, the timing Location Request of label is needed solid
Increase a small stochastic variable on the fixed period to interact to prevent the Location Request of label to be overlapped for a long time；
Each synchronous base station includes the UWB unit of an energy receiving and transmitting signal, and the number of synchronous base station needs to meet in environment
Middle any point, the broadcast that all at least one synchronization base station can listen to the label sending for being in the point are synchronized by least one
Base station receives；
Each base station of monitoring includes the UWB unit and a network module for being used for monitoring signal, network module and clothes
Being engaged in, device is connected, and the number that by the UWB result upload server of monitoring, can monitor base station needs to meet any one in the environment
Point is all at least synchronizing the edge area of base station covering also there are four monitoring base station to receive the broadcast of label sending
Suitably to increase and monitor base station number.
3. a kind of high precision wireless indoor orientation method based on ultra wide band according to claim 1, which is characterized in that step
In rapid two, if having compared in the presence of multi-tag, same synchronous base station can respond two Location Requests in succession, at this point, upper one
A synchronization signal can only send pulse synchronization signal there is no entirely ineffective, synchronous for clock.
4. a kind of high precision wireless indoor orientation method based on ultra wide band according to claim 1, which is characterized in that clothes
Business device handles Location Request process, and specific implementation process is as follows: it receives monitoring base station and reports, summarize the signal of the same label,
It monitors whether base station number meets resolving minimum requirements, restarts if being unsatisfactory for, if satisfied, resolving label position, supervise
Listen whether base station number meets optimum results quantitative requirement, if being unsatisfactory for directly exporting as a result, calculating residual error if meeting, if
Having base station residual error is more than threshold value, if output direct without if as a result, rejecting respective base station observation if having, resolves label position.
5. a kind of high precision wireless indoor orientation method based on ultra wide band according to claim 1, which is characterized in that step
Synchronous base flow, specific implementation process are as follows in rapid three: beginning listening for ultra-broadband signal, receive positioning request information, judge
Whether clock fails, if not failing, sends pulse synchronization signal, and refresh clock state monitors ultra-broadband signal again, if
Clock failure, then send dipulse synchronization signal, refresh clock state monitors ultra-broadband signal again.
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| CN109587632A (en) * | 2019-01-04 | 2019-04-05 | 广州中石科技有限公司 | Localization method and device |
| CN110099440A (en) * | 2019-05-16 | 2019-08-06 | 成都精位科技有限公司 | Position delay calibration method and device |
| CN110366101A (en) * | 2019-07-26 | 2019-10-22 | 杭州微萤科技有限公司 | A kind of method that UWB centralization calculating realization positions on a large scale |
| CN110446156A (en) * | 2019-07-26 | 2019-11-12 | 杭州微萤科技有限公司 | A kind of method that the realization of UWB distributed computing positions on a large scale |
| CN113411151A (en) * | 2019-11-18 | 2021-09-17 | 广东博智林机器人有限公司 | Ultra-bandwidth positioning system |
| CN114280534A (en) * | 2021-11-30 | 2022-04-05 | 江苏科技大学 | TDOA scheduling system and method based on ultra-wideband positioning |
| WO2023141984A1 (en) * | 2022-01-28 | 2023-08-03 | 群迈通讯股份有限公司 | Positioning system and method |
| CN117596658A (en) * | 2024-01-18 | 2024-02-23 | 福建福大北斗通信科技有限公司 | Base station time synchronization system and method for UWB indoor positioning system |
| CN117858003A (en) * | 2023-11-30 | 2024-04-09 | 东土科技(宜昌)有限公司 | Chemical scene positioning method, system and storage medium |
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| CN109587632A (en) * | 2019-01-04 | 2019-04-05 | 广州中石科技有限公司 | Localization method and device |
| CN110099440B (en) * | 2019-05-16 | 2021-06-22 | 成都精位科技有限公司 | Positioning delay calibration method and device |
| CN110099440A (en) * | 2019-05-16 | 2019-08-06 | 成都精位科技有限公司 | Position delay calibration method and device |
| CN110446156B (en) * | 2019-07-26 | 2023-06-06 | 杭州微萤科技有限公司 | Method for realizing large-scale positioning by UWB distributed computing |
| CN110446156A (en) * | 2019-07-26 | 2019-11-12 | 杭州微萤科技有限公司 | A kind of method that the realization of UWB distributed computing positions on a large scale |
| CN110366101B (en) * | 2019-07-26 | 2023-06-06 | 杭州微萤科技有限公司 | Method for realizing large-scale positioning by UWB centralized computing |
| CN110366101A (en) * | 2019-07-26 | 2019-10-22 | 杭州微萤科技有限公司 | A kind of method that UWB centralization calculating realization positions on a large scale |
| CN113411151A (en) * | 2019-11-18 | 2021-09-17 | 广东博智林机器人有限公司 | Ultra-bandwidth positioning system |
| CN113411151B (en) * | 2019-11-18 | 2022-07-12 | 广东博智林机器人有限公司 | Ultra-bandwidth positioning system |
| CN114280534A (en) * | 2021-11-30 | 2022-04-05 | 江苏科技大学 | TDOA scheduling system and method based on ultra-wideband positioning |
| WO2023141984A1 (en) * | 2022-01-28 | 2023-08-03 | 群迈通讯股份有限公司 | Positioning system and method |
| CN117858003A (en) * | 2023-11-30 | 2024-04-09 | 东土科技(宜昌)有限公司 | Chemical scene positioning method, system and storage medium |
| CN117596658A (en) * | 2024-01-18 | 2024-02-23 | 福建福大北斗通信科技有限公司 | Base station time synchronization system and method for UWB indoor positioning system |
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Application publication date: 20181207 |