CN108989985A - High-accuracy position system and localization method in single node room - Google Patents
High-accuracy position system and localization method in single node room Download PDFInfo
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- CN108989985A CN108989985A CN201810997299.0A CN201810997299A CN108989985A CN 108989985 A CN108989985 A CN 108989985A CN 201810997299 A CN201810997299 A CN 201810997299A CN 108989985 A CN108989985 A CN 108989985A
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- base station
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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
- H04W4/025—Services making use of location information using location based information parameters
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
Abstract
The present invention discloses high-accuracy position system and localization method in a kind of single node room, positioning system includes positioning host, reference base station, active location terminal, the positioning host establishes connection by interchanger and cable and reference base station, and the reference base station establishes connection by UWB super wideband wireless channel with active location terminal.Base station compared to traditional multinode is positioned, the present invention is based on single node ultra wideband location techniques, the aerial array formed in conjunction with 6 strip antennas, the high-precision signal that 360 ° of range can be reached in any environment receives, system positional accuracy is improved by the raising to AOA location algorithm accuracy again, and then reaches the final registration of improvement.The present invention is based on the range errors measured under single base station location algorithm research of UWB ultra-broadband signal and AOA Position Research in a centimetre rank (generally 2cm or less) and angle under 1 degree.
Description
Technical field
The present invention relates to positioning system field technology, high-accuracy position system and positioning in a kind of single node room are referred in particular to
Method.
Background technique
Location based service and location-aware computing have become more and more important in practical applications, apply phase with such
The development of the industries such as intelligent robot, smart home and the intelligent radio sensing net of pass has entered the outbreak period.Although based on leading
The location technology of boat satellite is very mature, but because microwave signal is easy to be absorbed and reflected by objects such as buildings, therefore cannot be used for
Indoor environment.However at present there are many demand of location based service and location-aware computing be in non-outdoor area, can not
Using satellite positioning functions, such as indoor mobile robot is independently when driving, it is necessary to it is continuous, obtain in real time it is reliable, accurate
Location information.
Summary of the invention
In view of this, in view of the deficiencies of the prior art, the present invention aims to provide in a kind of single node room
High-accuracy position system and localization method, can satisfy indoor positioning demand, and orientation distance trueness error centimetre rank with
It is interior, thus overcome the deficiencies in the prior art.
To achieve the above object, the present invention is using following technical solution:
High-accuracy position system in a kind of single node room, including positioning host, reference base station, active location terminal, it is described
Positioning host establishes connection by interchanger and cable and reference base station, and the reference base station passes through with active location terminal
UWB super wideband wireless channel establishes connection；
The active location terminal is signal transmitting terminal, is mobile terminal and end to be positioned, which is arranged UWB
Ultra-wideband data sending module, the UWB ultra-wideband data sending module are connected with 1 UWB signal transmission antenna；
The reference base station is signal receiving end, is reference point, position fix, including aerial array, microcomputer,
UWB ultra wide band capture program module, the model that can cover 360 ° that the aerial array is made of the antenna of 6 60 ° of covering of the fans
It encloses, aerial array is connected to microcomputer and UWB ultra wide band capture program module 23 by 6 to 1 radio frequency exchange, wherein UWB
Ultra wide band capture program module is consistent with the rate of UWB ultra-wideband data sending module, bandwidth and working frequency；
Distance host, UWB ultra-wideband data download module, base based on shell script edit built in the positioning host
In AOA estimation module, range finder module and the locating module of Matlab script edit, which passes through shell shell script
Telnet controls UWB ultra wide band capture program module, UWB ultra-wideband data download module handle by way of remote download
It acquires data and copies local to from reference base station, be then fed to the AOA estimation module and range finder module of positioning host, finally
AOA value and distance measurement result are admitted to locating module and obtain final positioning result.
As a preferred embodiment, the aerial array is fixed on antenna base, which is covered with antenna house
Aerial array is enclosed in interior.
As a preferred embodiment, the UWB ultra wide band capture program module include the automatic gain unit being sequentially connected in series,
Sampling/ADC unit, packet detector, CFO corrector and OFDM receiver.
As a preferred embodiment, the OFDM receiver is made of the channel estimating unit of FFT unit and concatenation.
As a preferred embodiment, the AOA estimation module includes the array received signal element being sequentially connected in series, pretreatment
The smooth MUSIC algorithm unit of unit, Wavelet Denoising Method unit, two dimension, AOA spatial spectrum unit.
As a preferred embodiment, the Wavelet Denoising Method unit be by wavelet basis selection unit, wavelet decomposition unit,
Wavelet coefficient processing unit, signal reconstruction unit composition.
As a preferred embodiment, the UWB ultra wide band uses letter of the frequency between 500MHz to 7.5GHz
Number.
The localization method of high-accuracy position system in a kind of single node room, under the long-range control of positioning host, with reference to base
It stands and connection is established by UWB super wideband wireless channel with active location terminal, active location terminal constantly sends position from node A
Confidence number, reference base station constantly receive fixed number of position from node B, it is assumed that are from node A to the time that node B sends signal
TA, reference base station receives the time of signal as T after signal reaches node BB, then between two node A, node B nodes away from
From can be indicated with following formula:
TAB=(TB-TA) (1)
dAB=TAB*c (2)
Wherein, c is electromagnetic wave propagation speed, dABFor from node A to the distance of node B.
The present invention has obvious advantages and beneficial effects compared with the existing technology, specifically, by above-mentioned technical proposal
It is found that the base station compared to traditional multinode is positioned, the present invention is based on single node ultra wideband location techniques, in conjunction with 6
The aerial array that antenna is formed, the high-precision signal that can reach 360 ° of range in any environment receive, then by AOA
The raising of location algorithm accuracy improves system positional accuracy, and then reaches and improve final registration.Base of the present invention
The range error measured under single base station location algorithm research of UWB ultra-broadband signal and AOA Position Research is in a centimetre rank
(generally 2cm or less) and angle are under 1 degree.
In order to explain the structural features and functions of the invention more clearly, come with reference to the accompanying drawing with specific embodiment to this hair
It is bright to be described in detail.
Detailed description of the invention
Fig. 1 is the system structure diagram of embodiments of the present invention.
Fig. 2 is the system structure diagram of embodiments of the present invention.
Fig. 3 is the schematic diagram of the aerial array of embodiments of the present invention.
Fig. 4 is the waveform overlay chart of the antenna array receiver positioning signal of embodiments of the present invention.
Fig. 5 is the structural block diagram of the UWB ultra wide band capture program module of embodiments of the present invention.
Fig. 6 is the structural block diagram of the AOA estimation module of embodiments of the present invention.
Fig. 7 is the distance measuring method schematic diagram of embodiments of the present invention.
Description of drawing identification:
10, positioning host 11, distance host
12, UWB ultra-wideband data download module 13, AOA estimation module
131, array received signal element 132, pretreatment unit
133, wavelet basis selection unit 134, wavelet decomposition unit
135, wavelet coefficient processing unit 136, signal reconstruction unit
137, the smooth MUSIC algorithm unit 138 of two dimension, AOA spatial spectrum unit
14, range finder module 15, locating module
20, reference base station 21, aerial array
22, microcomputer 23, UWB ultra wide band capture program module
231, automatic gain unit 232, sampling/ADC unit
233, packet detector 234, CFO corrector
235, FFT unit 236, channel estimating unit
24, antenna base 25, antenna house
30, active location terminal 31, UWB ultra-wideband data sending module
32, UWB signal transmission antenna 40, interchanger.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 5, it to be a kind of single-unit that show the specific structures of the preferred embodiments of the invention
The indoor high-accuracy position system of point.
As depicted in figs. 1 and 2, which includes positioning host 10, reference base station 20, active location terminal 30, described fixed
Position host 10 establishes connection, the reference base station 20 and active location terminal by interchanger 40 and cable and reference base station 20
30 establish connection by UWB super wideband wireless channel.
Wherein, the active location terminal 30 is signal transmitting terminal, is mobile terminal and end to be positioned, the active location terminal
30 are arranged UWB ultra-wideband data sending module 31, which is connected with 1 UWB signal and sends day
Line 32.
The reference base station 20 is signal receiving end, is reference point, position fix, including it is aerial array 21, miniature
Computer 22, UWB ultra wide band capture program module 23, the aerial array 21 can be covered by what the antenna of 6 60 ° of covering of the fans formed
The range that 360 ° of lid, aerial array 21 are connected to microcomputer 22 and UWB ultra wide band capture program by 6 to 1 radio frequency exchange
Module 23, wherein rate, bandwidth and the use of UWB ultra wide band capture program module 23 and UWB ultra-wideband data sending module 31
Frequency range is consistent.
Distance host 11, the UWB ultra-wideband data download module based on shell script edit built in the positioning host 10
12, the AOA estimation module 13 based on Matlab script edit, range finder module 14 and locating module 15, the distance host 11 pass through
Shell shell script Telnet controls UWB ultra wide band capture program module 23, and the UWB ultra-wideband data download module 12 is logical
Acquisition data are copied to local from reference base station 20 by the mode for crossing remote download, and the AOA for being then fed to positioning host 10 estimates
Meter module 13 and range finder module 14, last AOA value and distance measurement result are admitted to locating module 15 and obtain final positioning result.
Base station compared to traditional multinode is positioned, and the present invention is based on single node ultra wideband location techniques, in conjunction with 6
The aerial array 21 that strip antenna is formed, the high-precision signal that can reach 360 ° of range in any environment receives, then passes through
System positional accuracy is improved to the raising of AOA location algorithm accuracy, and then reaches the final registration of improvement.This hair
The range error measured under bright single base station location algorithm research and AOA Position Research based on UWB ultra-broadband signal centimetre
Rank (generally 2cm or less) and angle are under 1 degree.
As shown in figure 3, the aerial array 21 is fixed on antenna base 24, which is covered with antenna house 25
Aerial array 21 is enclosed in interior.In this way, each antenna has 60 ° of bandwidth, beam pattern has overlapped part,
Referring to fig. 4.In conjunction with Fig. 1, it is assumed that active location terminal 30 emits is a1Pulse, be effective in antenna 1,2 ranges
Pulse, it is respectively t that ultra-wideband pulse, which reaches antenna as 1,2 time,1、t2, and the aerial spread speed of known pulse is c,
The distance that then active location terminal 30 reaches antenna 1,2 can be obtained by, and be respectively: r1=c*t1, r2=c*t2.If pulse
Amplitude is A, then impulse amplitude received by antenna 1,2 is respectively as follows:
Wherein PL are as follows:
The impulse amplitude that measurement obtains pulse arrival antenna 1,2 can derive the angle of arrival (AOA) of pulse.More than
Method can substitute with the micro time difference method for measuring angle of arrival, can be to avoid arriving using micro time difference measurements
Required high precision clock when up to angle, to abbreviation equipment and reduce cost of equipment.Meanwhile applies amplitude is surveyed
Amount conversion reaches angle changing rate simply and accuracy is higher, so as to realize high accuracy positioning.
As shown in figure 5, the UWB ultra wide band capture program module 23 includes the automatic gain unit 231 being sequentially connected in series, adopts
Sample/ADC unit 232, packet detector 233, CFO corrector 234 and OFDM receiver.Further, the OFDM receiver
It is made of the channel estimating unit 236 of FFT unit 235 and concatenation.Wherein, the received position signal of aerial array is input to
Automatic gain unit 231, the automatic gain unit 231 amplify the power of position signal, then are transported to sampling/ADC unit 232,
The sampling/ADC unit 232 adjusts the frequency of position signal, then is transported to packet detector 233, which is responsible for packet inspection
Uncertainty is surveyed, then residual carrier frequency is removed by CFO corrector 234, is sent to OFDM receiver for corrected position signal
Offset improves the accuracy of position positioning.
As shown in fig. 6, the AOA estimation module 13 includes the array received signal element 131 being sequentially connected in series, pretreatment list
The smooth MUSIC algorithm unit 137 of member 132, Wavelet Denoising Method unit, two dimension, AOA spatial spectrum unit 138.Wherein, the small echo is gone
Unit of making an uproar is by wavelet basis selection unit 133, wavelet decomposition unit 134, wavelet coefficient processing unit 135, signal reconstruction
Unit 136 forms.The AOA estimation module 13 is based on Wavelet Denoising Method pretreatment AOA estimation method, first to the array received
Signal, that is, channel state information carries out phasing pretreatment；Secondly, selecting suitable wavelet basis function according to the characteristics of signal
And filter parameter, wavelet decomposition is carried out then according to selected parameter and wavelet coefficient is handled, then according to the signal of reservation
Wavelet coefficient signal is reconstructed, complete the process of Wavelet Denoising Method, it is finally flat using two dimension to the signal after Wavelet Denoising Method
Sliding MUSIC algorithm estimate AOA spatial spectrum.
As shown in fig. 7, which show a kind of localization methods of high-accuracy position system in single node room, in positioning host 10
Long-range control under, reference base station 20 and active location terminal 30 establish connection, active location by UWB super wideband wireless channel
Terminal 30 constantly sends position signal from node A, and reference base station 20 constantly receives fixed number of position from node B, it is assumed that from section
Point A sends the time of signal to node B as TA, reference base station 20 receives the time of signal as T after signal reaches node BB, that
The distance between two node A, node B nodes can be indicated with following formula:
TAB=(TB-TA) (1)
dAB=TAB*c (2)
Wherein, c is electromagnetic wave propagation speed, dABFor from node A to the distance of node B.
In the process, Wavelet Denoising Method is based on using the AOA estimation module 13 of positioning host 10 pre-process the estimation side AOA
Method carries out phasing pretreatment to the array signal received i.e. channel state information first；Secondly, the characteristics of according to signal
Suitable wavelet basis function and filter parameter are selected, is carried out at wavelet decomposition and wavelet coefficient then according to selected parameter
Reason, is then reconstructed signal according to the wavelet coefficient of the signal of reservation, completes the process of Wavelet Denoising Method, finally go to small echo
Signal after making an uproar estimate AOA spatial spectrum using the smooth MUSIC algorithm of two dimension, to improve positioning accuracy.
The above described is only a preferred embodiment of the present invention, be not intended to limit the scope of the present invention,
Therefore any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention, still
Belong in the range of technical solution of the present invention.
Claims (8)
1. high-accuracy position system in a kind of single node room, it is characterised in that: including positioning host, reference base station, active location
Terminal, the positioning host establish connection, the reference base station and active location by interchanger and cable and reference base station
Terminal establishes connection by UWB super wideband wireless channel；
The active location terminal is signal transmitting terminal, is mobile terminal and end to be positioned, which is arranged UWB ultra-wide
Band data transmission blocks, the UWB ultra-wideband data sending module are connected with 1 UWB signal transmission antenna；
The reference base station is signal receiving end, is reference point, position fix, including aerial array, microcomputer, UWB
Ultra wide band capture program module, the range that can cover 360 ° that the aerial array is made of the antenna of 6 60 ° of covering of the fans,
Aerial array is connected to microcomputer and UWB ultra wide band capture program module 23 by 6 to 1 radio frequency exchange, wherein UWB ultra-wide
It is consistent with the rate of UWB ultra-wideband data sending module, bandwidth and working frequency with capture program module；
Distance host built in the positioning host, is based on the UWB ultra-wideband data download module based on shell script edit
AOA estimation module, range finder module and the locating module of Matlab script edit, the distance host are remote by shell shell script
Cheng Denglu controls UWB ultra wide band capture program module, and UWB ultra-wideband data download module handle by way of remote download is adopted
Collect data and copy local to from reference base station, is then fed to the AOA estimation module and range finder module of positioning host, last AOA
Value and distance measurement result are admitted to locating module and obtain final positioning result.
2. high-accuracy position system and localization method in single node room according to claim 1, it is characterised in that: the day
Linear array is fixed on antenna base, which is covered in aerial array is enclosed in by antenna house.
3. high-accuracy position system and localization method in single node room according to claim 1, it is characterised in that: described
UWB ultra wide band capture program module includes the automatic gain unit being sequentially connected in series, sampling/ADC unit, packet detector, CFO correction
Device and OFDM receiver.
4. high-accuracy position system and localization method in single node room according to claim 3, it is characterised in that: described
OFDM receiver is made of the channel estimating unit of FFT unit and concatenation.
5. high-accuracy position system and localization method in single node room according to claim 1, it is characterised in that: described
AOA estimation module includes that the array received signal element being sequentially connected in series, pretreatment unit, Wavelet Denoising Method unit, two dimension are smooth
MUSIC algorithm unit, AOA spatial spectrum unit.
6. high-accuracy position system and localization method in single node room according to claim 5, it is characterised in that: described small
It is by wavelet basis selection unit, wavelet decomposition unit, wavelet coefficient processing unit, signal reconstruction unit group that wave, which denoises unit,
At.
7. high-accuracy position system and localization method in single node room according to claim 1, it is characterised in that: described
UWB ultra wide band uses signal of the frequency between 500MHz to 7.5GHz.
8. the localization method of high-accuracy position system in a kind of single node room, it is characterised in that: in the long-range control of positioning host
Under, reference base station and active location terminal establish connection by UWB super wideband wireless channel, active location terminal from node A not
Position signal is sent disconnectedly, and reference base station constantly receives fixed number of position from node B, it is assumed that sends signal from node A to node B
Time be TA, reference base station receives the time of signal as T after signal reaches node BB, then two node A, node B nodes
The distance between can be indicated with following formula:
TAB=(TB-TA) (1)
dAB=TAB*c (2)
Wherein, c is electromagnetic wave propagation speed, dABFor from node A to the distance of node B.
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| CN201810997299.0A CN108989985A (en) | 2018-08-29 | 2018-08-29 | High-accuracy position system and localization method in single node room |
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Cited By (4)
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| CN110913466A (en) * | 2019-11-28 | 2020-03-24 | 郑州芯力波通信息技术有限公司 | Ultra-wideband UWB positioning system and method based on multi-communication fusion |
| CN111431573A (en) * | 2020-04-02 | 2020-07-17 | 哈尔滨工程大学 | Antenna resource allocation and array design method for CSI single access point positioning |
| CN113747565A (en) * | 2021-08-03 | 2021-12-03 | 南京昆睿通信技术有限公司 | System for realizing wireless terminal positioning by antenna array |
| CN114040322A (en) * | 2021-10-22 | 2022-02-11 | 云南腾云信息产业有限公司 | Space positioning method and device, computer equipment and storage medium |
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Application publication date: 20181211 |
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| RJ01 | Rejection of invention patent application after publication |