CN109031187A - A kind of wireless positioning monitoring system and method based on UWB technology - Google Patents
A kind of wireless positioning monitoring system and method based on UWB technology Download PDFInfo
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- CN109031187A CN109031187A CN201810507361.3A CN201810507361A CN109031187A CN 109031187 A CN109031187 A CN 109031187A CN 201810507361 A CN201810507361 A CN 201810507361A CN 109031187 A CN109031187 A CN 109031187A
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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
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
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- Radar, Positioning & Navigation (AREA)
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- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of wireless positioning monitoring system and method based on UWB technology, including single base station, aerial array, the radio-frequency module being connect with aerial array, monitoring service platform, label, the acquisition module and display screen that are connect with label；Acquisition module includes that far infrared surveys optical module, air quantity, air velocity transducer, gas sensor, PM2.5 dust sensor；Aerial array, monitoring service platform, label are connect with single base station respectively.Time synchronization before positioning label and single base station with single base station synchronous head；The distance between label and single base station and angle are measured by TOA location technology and AOA location technology using the single base station with antenna, to obtain the three-dimensional position of label；The information detected is transmitted to monitoring service platform by single base station with acquisition module, if the value of information in dangerous linkage source exceeds normal range value, system is alarmed.The present invention has the advantages that low-power consumption, anti-interference, low complex degree, efficiency of transmission height, accurate positioning.
Description
Technical field
The present invention relates to UWB positioning monitoring technology fields, are a kind of wireless location prisons based on UWB technology specifically
Control system and method.
Background technique
As Internet of Things research deepens continuously with what is applied, wireless communication technique will be fast-developing, and in different Internet of Things
It plays a significant role in application scenarios, and sterically defined demand also will be more and more extensive and urgent.GPS
(GPS) as more mature location technology, engineering survey, navigation, in terms of be widely used, and in power train
System is mainly used for clock synchronization and fault diagnosis.Some power stations use GPS satellite and WLAN location technology, although these technologies
Maturation, but GPS has that at high cost, positioning accuracy is not high, vulnerable to block do not adapt to specific environment (as it is indoor, it is inferior) work
The disadvantages of being required；WLAN poor anti jamming capability, positioning accuracy are low, transmission range is short, are unable to satisfy certain high-precision fixed potential fields
The requirement of conjunction.And the location technologies such as light tracking, ultrasonic wave, bluetooth, Zigbee also have respective advantage and disadvantage, as infrared ray is only suitable for
Short distance is propagated, and is easy to be interfered by the light in fluorescent lamp or room, there is limitation in accurate positioning；Ultrasonic wave by
Multipath effect and non-line-of-sight propagation influence are very big, vulnerable to temperature interference, are not suitable for power station environment；Bluetooth, Zigbee transmission speed
Rate is low, reduces the working efficiency of power station locating and monitoring.
Have in the prior art and carry out locating and monitoring using more base station UWB, but structure is complicated, synchronous difficulty is big.
Summary of the invention
The purpose of the present invention is to provide a kind of wireless positioning monitoring system and method based on UWB technology has power consumption
It is low, anti-multipath effect is good, highly-safe, system complexity is low, efficiency of transmission is high, can provide the advantages of accurate positioning, and lead to
It crosses UWB technology to be positioned, monitored and managed in real time, it is greatly and same to solve complicated, the synchronous difficulty of the current positioning system method of synchronization
Walk the low problem of precision.
The present invention is achieved through the following technical solutions:
A kind of wireless positioning monitoring system based on UWB technology, it is characterised in that: including single base station, antenna and antenna
The radio-frequency module of connection, monitoring service platform, label, connect respectively with label and the acquisition module for detecting dangerous linkage source and
Display screen；The antenna, monitoring service platform, label are connect with single base station respectively；The acquisition module includes that far infrared surveys light
Module, air quantity, air velocity transducer, gas sensor, PM2.5 dust sensor.
Further, in order to preferably realize the present invention, the radio-frequency module includes radio frequency exchanger, CPU and base band
Module；The radio frequency exchanger and baseband module are connect with CPU respectively.
Further, in order to preferably realize the present invention, the far infrared survey optical module include remote red sensor,
AT89C51 single-chip microcontroller, in-phase amplifier, diode temperature compensation circuit, A/D converter；The remote red sensor amplifies with phase
Device, diode temperature compensation circuit, A/D converter are connected with AT89C51 single-chip microcontroller respectively.
Further, in order to preferably realize the present invention, the label, acquisition module, display screen quantity be it is multiple,
One display screen, an acquisition module are connect with a label respectively.
A kind of wireless location monitoring method based on UWB technology, specifically includes the following steps:
Step S1: before label and single base station positioning, using single base station synchronous head by label and single base station
Time synchronization；
Step S2: using the single base station with antenna by TOA location technology measure between label and single base station away from
From, then label is measured by AOA location technology and sends the angle that pulse reaches single base station；
Step S3: obtain label to single base station distance and angle, to obtain the three-dimensional position of label, and by label
Three dimensional local information and label track be stored in monitoring service platform by single base station；
Step S4: detecting dangerous linkage source by the acquisition module connecting with label, and the information that will test passes through list
A base station is transmitted to monitoring service platform and in the display screen display connecting with label；
Step S5: if when the value of information in dangerous linkage source exceeds normal range value, danger linkage source information can quickly lead to
Single base station transmission is crossed to alarm.
Further, in order to preferably realize the present invention, in the step S1: when single base station synchronous head and labeling task
Each of receive to be spaced 1ms between window, receive the label of a synchronous head and still constantly monitor until receiving another synchronous head；
The ratio between the time for two synchronous heads that the time of the synchronous head detected by label and single base station generate obtains label and list
Clock frequency between a base station.
Further, in order to preferably realize the present invention, the step S2 specifically includes the following steps:
Step S21: aerial array is normalized to 6 unit circular array, i.e. the aerial array of 6 face directional aerials composition covers
360 ° of spaces of lid；
Step S22:UWB signal enters system by each antenna receiving channel, after UWB signal is received by the antenna, passes through
Radio-frequency module amplifies it, filters, AD is sent to CPU after quantifying and handles, and CPU mainly completes the detection of signal, direction
The function of estimation and switch control, aerial array after 6 to 1 radio-frequency module processing with single base station by being connected；
Step S23: determine label at a distance from single base station；It specifically refers to: measurement pulse is passed through by the single base station
The summation for the time that time and measurement pulse from single base station to label return single base station from tag reflection subtracts single base station
It is determined with total duration used in the inside tags processing of circuit time；
Step S24: by comparing the signal amplitude of maximum amount antenna in current each antenna, and then determined using AOA
Position technology obtains label angle.
Further, in order to preferably realize the present invention, the step S3 specifically includes the following steps:
Step S31: joint TOA location technology and the distance between AOA location technology label obtained and single base station
And angle, the three-dimensional position of label is obtained, then pass the three-dimensional position of label by single base station after handling by radio-frequency module
Monitoring service platform is defeated by be stored；
Step S32: after label is started to work, treated that label position biosynthesis locus is sent to monitoring service for radio-frequency module
Platform.
Further, in order to preferably realize the present invention, the step S4 specifically includes the following steps:
Step S41: the heat radiation that object issues touches the AT89C51 single-chip microcontroller that label far infrared is surveyed in optical module, aobvious
Temperature data is read in display screen and data are passed into monitoring service platform stores；
Step S42: label in three-dimensional space motion, acquisition module on label to around label air quantity, wind speed, watt
This gas and PM2.5 dust are acquired measurement, then collected information is read on a display screen and passes through single base station
It is transmitted to monitoring service platform.
Further, in order to preferably realize the present invention, in the step S5: the acquisition module on label is detected remote
Infrared light, air quantity, wind speed, methane gas, PM2.5 dust are if danger linkage source information, if the dangerous linkage source letter detected
When ceasing data value beyond normal range value, danger linkage source information can be transmitted quickly through single base station alarm.
Working principle:
1. the present invention is a kind of wireless positioning monitoring system and method based on UWB technology, using single base station antenna array
Aerial array is normalized to 6 unit circular array, the i.e. antenna of 6 face directional aerials composition by column super wideband wireless location algorithm
Array covers 360 ° of spaces, then combines the three-dimensional position of TOA location technology and AOA location technology precise determination label.
2. the three-dimensional position that will test label is transferred to monitoring after handling by the radio-frequency module connecting with aerial array
Information desk stores, and the continual pulse signal synthesis label track that when labeling task issues can do track playback function.
3. the acquisition module connecting with label includes that far infrared surveys optical module, air quantity, air velocity transducer, methane gas sensing
Device, PM2.5 dust sensor, the heat radiation that object issues touch the AT89C51 single-chip microcontroller that label far infrared is surveyed in optical module,
Temperature data is read on display screen and data are passed into monitoring service platform stores；Label is in three-dimensional space motion, label
On acquisition module measurement is acquired to air quantity, wind speed, methane gas and the PM2.5 dust around label, then will acquisition
To information read to be transmitted to monitoring service platform on a display screen and by single base station.Acquisition module on label is detected remote
Infrared light, air quantity, wind speed, methane gas, PM2.5 dust are if danger linkage source information, if the dangerous linkage source letter detected
When ceasing data value beyond normal range value, by the high advantage of UWB technology transmission rate, danger linkage source information can quickly lead to
Single base station transmission is crossed to alarm.
Compared with prior art, the present invention have the following advantages that and the utility model has the advantages that
(1) present invention uses UWB technology single base station aerial array super wideband wireless location algorithm, just using single base station
The three-dimensional position of label can be measured, system complexity is low, facilitates installing and deploying for whole system；
(2) present invention uses the wireless positioning monitoring system of UWB technology, has that low-power consumption, anti-multipath effect be good, safety
Advantage high, efficiency of transmission is high；
(3) present invention is normalized using antenna, and aerial array covers 360 ° of spaces, and combines TOA location technology and AOA
Location technology keeps the three-dimensional position of label more accurate；
(4) present invention solves the problems, such as the safety and monitoring management of technical staff's construction.
Detailed description of the invention
Fig. 1 is present system hardware block diagram；
Fig. 2 is radio-frequency module of the present invention work block diagram；
Fig. 3 is the single base station ultra-wideband wireless positioning method schematic diagram of inventive antenna array；
Fig. 4 is inventive antenna array ideal orientation；
Fig. 5 is inventive antenna array normalized gain schematic diagram；
Fig. 6 is acquisition module work flow diagram of the present invention；
Specific embodiment
The present invention is described in further detail below with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1:
The present invention is achieved through the following technical solutions, as shown in Figure 1, including single base station, antenna, penetrating of connecting with antenna
Frequency module, monitoring service platform, label, the acquisition module and display screen for connecting with label respectively and be used to detect dangerous linkage source；
The antenna, monitoring service platform, label are connect with single base station respectively；The acquisition module includes that far infrared surveys optical module, wind
Amount, air velocity transducer, gas sensor, PM2.5 dust sensor.
It should be noted that the present invention is based on UWB technologies to use single base station aerial array ultra wide band by above-mentioned improvement
Aerial array is normalized to 6 unit circular array, i.e. the aerial array covering of 6 face directional aerials composition by wireless location algorithm
360 ° of spaces, then combine the three-dimensional position of TOA location technology and AOA location technology precise determination label, can be in actual use
Using four antennas, eight antennas or ten antenna systems.It will test the three-dimensional position of label and pass through the radio frequency that connect with aerial array
It is transferred to monitoring service platform after resume module to be stored, the continual pulse signal synthesis label rail that when labeling task issues
Mark can do track playback function.The acquisition module being connect with label include far infrared survey optical module, air quantity, air velocity transducer, watt
This gas sensor, PM2.5 dust sensor, the heat radiation that object issues touch label far infrared and survey in optical module
AT89C51 single-chip microcontroller reads temperature data on a display screen and data are passed to monitoring service platform stores；Label is in three-dimensional
When spatial movement, the acquisition module on label adopts air quantity, wind speed, methane gas and the PM2.5 dust around label
Collection measurement, then collected information is read to be transmitted to monitoring service platform on a display screen and by single base station.Adopting on label
Collect module far red light detected, air quantity, wind speed, methane gas, PM2.5 dust if danger linkage source information, if detection
When the dangerous linkage source information data value arrived is beyond normal range value, by the high advantage of UWB technology transmission rate, danger connection
Dynamic source information can be transmitted quickly through single base station and be alarmed.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 2:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in Fig. 2, the radio-frequency module includes penetrating
Frequency exchanger, CPU and baseband module；The radio frequency exchanger and baseband module are connect with CPU respectively.
It should be noted that increasing the radio-frequency transmissions dynamic range of wireless device by above-mentioned improvement, radio frequency reception is promoted
Sensitivity, lifting system signal receive performance；By increasing radio frequency baseband, lifting means anti-interference ability, enhancing equipment transmitting
Spurious reduction improves the Electro Magnetic Compatibility of equipment；Radio-frequency module uses new framework radio frequency exchanger, simplifies transceiver architecture, subtracts
Skinny device volume and power consumption improve device integration.The radio-frequency joint of RF device is accepted radiofrequency signal by penetrating by antenna
Frequency switching is to receiver channel, and into radio frequency low-noise amplifier, the first time of complete pair signals amplifies, amplified signal
Rf filtering is carried out by radio frequency reception bandpass filter, radio frequency reception link gain module is entered back into and carries out gain adjustment, so
Radio frequency chip is entered by receiving port afterwards, carries out amplification filtering, the radio frequency down-conversion, analog-to-digital conversion of chip interior, it is finally right
The processing of rear class system is given by the digital interface of radio frequency chip after digital signal progress demodulation operation.In concrete application process
In, it can be selected radio frequency reception link gain to be module bypass according to condition.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 3:
The present embodiment advanced optimizes on the basis of the above embodiments, and it includes remote red biography that the far infrared, which surveys optical module,
Sensor, AT89C51 single-chip microcontroller, in-phase amplifier, diode temperature compensation circuit, A/D converter；It is the remote red sensor, same
Phase amplifier, diode temperature compensation circuit, A/D converter are connected with AT89C51 single-chip microcontroller respectively.
It should be noted that by above-mentioned improvement, there are strict requirements in power station to photo-thermal value, if temperature is too high to burn out instrument
It is easy to cause power station fire, the signal source that the present invention detects is infrared light supply, and in-phase amplifier is used to transmit remote red sensor
Point signal amplification and filtering；A/D converter is used to the analog signal come out from amplifying circuit being converted to digital signal and pass
Give the processing of AT89C51 single-chip microcontroller.Single-chip microcontroller treated information on the display screen that connect with label by being shown, at any time
The infrared temperature for measuring power station avoids instrument from burning out and fire even occurs.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 4:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in Figure 1-Figure 3, the label, acquisition
Module, the quantity of display screen be it is multiple, a display screen, an acquisition module are connect with a label respectively.
It should be noted that presently used UWB positioning system is single using 4 or more references by above-mentioned improvement
Base station determines the three-dimensional position of a label, and to improve precision, all single base stations are interconnected using clock cable to keep
Accurate time synchronization, but there is a problem of in the positioning system of more single base stations 2 it is main: 1) high-precision synchronised clock is wanted
It asks: if using TOA location technology, it is required that with reference between single base station and with reference to accurate between single base station and label
Clock is synchronous；It is synchronous with reference to clock accurate between single base station if it is then being required using TDOA positioning.2) due to multiple lists
Need accurate clock synchronous between a base station, so currently used main method is the ginseng multiple and different by wired connection
Single base station is examined, therefore brings very big difficulty to system security deployment.The present invention uses UWB technology single base station aerial array
Super wideband wireless location algorithm realizes that single base station corresponds to multiple labels, saves needed for construction single base station and installs and deploys.
Aerial array is normalized to 6 unit circular array, i.e. the aerial array of 6 face directional aerials composition covers 360 ° of spaces, passes through
The range of single base station connection label can be increased after radio frequency processing, and each label is connected with acquisition module, monitoring service
Platform can receive the acquisition information of each work tap.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 5:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in figs 1 to 6, including single base station,
Antenna, monitoring service platform, label, connect with label respectively and is used to detect dangerous linkage source the radio-frequency module connecting with antenna
Acquisition module and display screen；The antenna, monitoring service platform, label are connect with single base station respectively；The acquisition module packet
It includes far infrared and surveys optical module, air quantity, air velocity transducer, gas sensor, PM2.5 dust sensor.The radio-frequency module
Including radio frequency exchanger, CPU and baseband module；The radio frequency exchanger and baseband module are connect with CPU respectively.It is described remote red
Exterior measuring optical module includes remote red sensor, AT89C51 single-chip microcontroller, in-phase amplifier, diode temperature compensation circuit, A/D conversion
Device；Remote red sensor, in-phase amplifier, diode temperature compensation circuit, the A/D converter respectively with AT89C51 single-chip microcontroller
It is connected.The label, acquisition module, display screen quantity be it is multiple, a display screen, an acquisition module respectively with one
Label connection.
It should be noted that the present invention is based on UWB technologies to use single base station aerial array ultra wide band by above-mentioned improvement
Aerial array is normalized to 6 unit circular array, i.e. the aerial array covering of 6 face directional aerials composition by wireless location algorithm
360 ° of spaces, then combine the three-dimensional position of TOA location technology and AOA location technology precise determination label, can be in actual use
Using four antennas, eight antennas or ten antenna systems.Increase the radio-frequency transmissions dynamic range of wireless device, it is sensitive to promote radio frequency reception
Degree, lifting system signal receive performance；By increasing radio frequency baseband, lifting means anti-interference ability, enhancing equipment emits spuious
Inhibit, improves the Electro Magnetic Compatibility of equipment；Radio-frequency module uses new framework radio frequency exchanger, simplifies transceiver architecture, and reduction is set
Standby volume and power consumption, improve device integration.The radio-frequency joint of RF device is accepted radiofrequency signal by antenna to be opened by radio frequency
Concern changes to receiver channel, and into radio frequency low-noise amplifier, the first time of complete pair signals amplifies, and amplified signal passes through
Radio frequency reception bandpass filter carries out rf filtering, enters back into radio frequency reception link gain module and carries out gain adjustment, then leads to
It crosses receiving port and enters radio frequency chip, amplification filtering, the radio frequency down-conversion, analog-to-digital conversion of chip interior are carried out, finally to number
The processing of rear class system is given by the digital interface of radio frequency chip after signal progress demodulation operation.In the specific application process, may be used
It selects radio frequency reception link gain to be module bypass according to condition.Will test the three-dimensional position of label by with aerial array
It is transferred to monitoring service platform after the radio-frequency module processing of connection and stores, the continual pulse signal that when labeling task issues closes
At label track, track playback function can be done.The acquisition module connecting with label includes that far infrared surveys optical module, air quantity, wind speed
There are strict requirements in sensor, gas sensor, PM2.5 dust sensor, power station to photo-thermal value, burn out if temperature is too high
Instrument is easy to cause power station fire, and the signal source that the present invention detects is infrared light supply, and in-phase amplifier is used for will remote red sensor
The amplification of point signal and filtering transmitted；A/D converter is used to the analog signal come out from amplifying circuit being converted to digital letter
Number send the processing of AT89C51 single-chip microcontroller to.Single-chip microcontroller treated information by being shown on the display screen that is connect with label,
The infrared temperature for measuring power station at any time avoids instrument from burning out and fire even occurs.It is far red that the heat radiation that object issues touches label
AT89C51 single-chip microcontroller in exterior measuring optical module reads temperature data on a display screen and data is passed to the progress of monitoring service platform
Storage；Label in three-dimensional space motion, acquisition module on label to around label air quantity, wind speed, methane gas and
PM2.5 dust is acquired measurement, then collected information is read to be transmitted to monitoring clothes on a display screen and by single base station
Business platform.Acquisition module far red light detected, air quantity, wind speed, methane gas, PM2.5 dust on label join if danger
Dynamic source information, if the dangerous linkage source information data value detected is beyond normal range value, by UWB technology transmission rate pole
High advantage, danger linkage source information can be transmitted quickly through single base station alarms.
Embodiment 6:
The present embodiment advanced optimizes on the basis of the above embodiments, and as shown in figs 1 to 6, one kind being based on UWB skill
The wireless location monitoring method of art, specifically includes the following steps: step S1: before label and single base station positioning, using list
A base station synchronization head by label and single base station time synchronization；Step S2: it is positioned using the single base station with antenna by TOA
Technology measures the distance between label and single base station, then measures label by AOA location technology and send the single base of pulse arrival
The angle stood；Step S3: label is obtained to the distance and angle of single base station, to obtain the three-dimensional position of label, and will be marked
The three dimensional local information and label track of label are stored in monitoring service platform by single base station；Step S4: by connecting with label
The acquisition module connect detects dangerous linkage source, the information that will test by single base station be transmitted to monitoring service platform and with mark
Sign the display screen display of connection；Step S5: if when the value of information in dangerous linkage source exceeds normal range value, dangerous linkage source
Information can be transmitted quickly through single base station and be alarmed.
It should be noted that by above-mentioned improvement, between each of single base station synchronous head and work tap receive between window
Every 1ms, the label for receiving a synchronous head is still constantly monitored until receiving another synchronous head；It is detected by label same
Walk head time and with reference to single base station generate two synchronous heads the ratio between the time obtain between label and single base station when
Clock frequency.Aerial array is normalized to 6 unit circular array, i.e. the aerial array of 6 face directional aerials composition covers 360 ° of skies
Between, four antennas, eight antennas or ten antenna systems can be used in actual use；System passes through successively UWB signal when working each
A antenna receiving channel enters system, after UWB signal is received by the antenna, is amplified, is filtered to it by radio-frequency module, AD amount
It is sent to CPU after change to be handled, CPU mainly completes the function of the detection of signal, direction estimation and switch control, and aerial array is logical
It is connected after crossing 6 to 1 radio-frequency module processing with single base station；The single base station is by measurement pulse from single base station to mark
Label from tag reflection return single base station again, subtract total duration used in single base station and inside tags processing of circuit time, thus
Determine the distance between label and single base station；By comparing the signal amplitude of maximum two antennas in current each antenna,
And then label angle is obtained using AOA location technology, make to position more accurate.Assuming that according to angle shown in Fig. 4, i.e., X-axis is being just
Direction is 0 °, rotates to be positive direction counterclockwise, the axis angle of the 0th, 1,2,3,4, No. 5 antenna beam is respectively 0,60 °, 2*60 °,
3*60°,4*60°,5*60°.Assuming that each antenna has consistent amplitude characteristic, the corresponding function of directional diagram is F (θn×
60), each antenna normalized gain figure is as shown in Figure 5.It can be seen that having 2 strongest antennas i.e. in each 30 ° of section
The angle that label transmitting pulse reaches single base station can be obtained.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 7:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in fig. 4-5, by comparing current each
The signal amplitude of maximum two antennas in a antenna, and then label angle is obtained using AOA location technology.
It should be noted that AOA is the contracting of the English Angle-of-Arrival of angle of arrival ranging by above-mentioned improvement
It writes, the location algorithm based on direction of arrival degree is one kind typically based on the location algorithm of ranging, passes through certain hardware devices
The arrival direction of transmitting node signal is perceived, relative bearing or angle between receiving node and anchor node are calculated, it is then sharp again
The position of unknown node is calculated with triangulation or other modes.AOA algorithm communication overhead is low, and positioning accuracy is higher to be based on
Impulse amplitude ratio carries out valuation to AOA.It in order to facilitate analysis, is analyzed by taking the directional diagram of Gaussian as an example, it is assumed that UWB letter
Number incident direction angle is θ, and n-th of antenna radiation pattern may be expressed as: at this time
In formula: θ0For the axis spacing of antenna beam, k is a constant related with powerbeam width.
Assuming that the amplitude that UWB signal reaches at 2 antennas is A, then the signal that n antenna and (n-1) number antenna receive
Amplitude is respectively as follows:
If signal amplitude ratio is R:
That is:
The angle that label transmitting pulse reaches single base station can be obtained in comprehensive above formula:
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 8:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in fig. 6, the label is in three-dimensional space
When movement, the acquisition module on label is acquired survey to air quantity, wind speed, methane gas and the PM2.5 dust around label
Amount, then collected information is read to be transmitted to monitoring service platform on a display screen and by single base station.Acquisition mould on label
Block far red light detected, air quantity, wind speed, methane gas, PM2.5 dust link source information if danger, if detecting
When danger linkage source information data value exceeds normal range value, danger linkage source information can be transmitted quickly through single base station to be carried out
Alarm.
It should be noted that by above-mentioned improvement, far red light that danger source detection module can will test, air quantity, wind
Speed, methane gas, PM2.5 dust send single base station to by UWB telecommunication circuit, video module and antenna, are then transmitted to again
Monitoring service platform stores.If the value of information detected has been more than critical field value, display screen and monitoring service platform can be touched
Warning system.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 9:
The present embodiment is the most preferred embodiment of control method of the present invention, as shown in figs 1 to 6, a kind of based on UWB technology
Wireless location monitoring method, specifically includes the following steps: step S1: before label and single base station positioning, using single base
Stand synchronous head by label and single base station time synchronization；Step S2: pass through TOA location technology using the single base station with antenna
The distance between label and single base station are measured, then label is measured by AOA location technology and sends pulse arrival single base station
Angle；Step S3: obtain label to single base station distance and angle, to obtain the three-dimensional position of label, and by label
Three dimensional local information and label track are stored in monitoring service platform by single base station；Step S4: pass through what is connect with label
Acquisition module detects dangerous linkage source, and the information that will test is transmitted to monitoring service platform by single base station and connects with label
The display screen display connect；Step S5: if when the value of information in dangerous linkage source exceeds normal range value, danger linkage source information
It can alarm quickly through single base station transmission.
By comparing the signal amplitude of maximum two antennas in current each antenna, and then obtained using AOA location technology
To label angle.The label in three-dimensional space motion, acquisition module on label to around label air quantity, wind speed, watt
This gas and PM2.5 dust are acquired measurement, then collected information is read on a display screen and passes through single base station
It is transmitted to monitoring service platform.
Acquisition module far red light detected, air quantity, wind speed, methane gas, PM2.5 dust on label is if danger
Link source information, if the dangerous linkage source information data value detected is beyond normal range value, danger linkage source information can be fast
Speed is alarmed by single base station transmission.
It should be noted that by above-mentioned improvement, between each of single base station synchronous head and work tap receive between window
Every 1ms, the label for receiving a synchronous head is still constantly monitored until receiving another synchronous head；It is detected by label same
Walk head time and with reference to single base station generate two synchronous heads the ratio between the time obtain between label and single base station when
Clock frequency.Aerial array is normalized to 6 unit circular array, i.e. the aerial array of 6 face directional aerials composition covers 360 ° of skies
Between, four antennas, eight antennas or ten antenna systems can be used in actual use；System passes through successively UWB signal when working each
A antenna receiving channel enters system, after UWB signal is received by the antenna, is amplified, is filtered to it by radio-frequency module, AD amount
It is sent to CPU after change to be handled, CPU mainly completes the function of the detection of signal, direction estimation and switch control, and aerial array is logical
It is connected after crossing 6 to 1 radio-frequency module processing with single base station；The single base station is by measurement pulse from single base station to mark
Label from tag reflection return single base station again, subtract total duration used in single base station and inside tags processing of circuit time, thus
Determine the distance between label and single base station；By comparing the signal amplitude of maximum two antennas in current each antenna,
And then label angle is obtained using AOA location technology, make to position more accurate.Assuming that according to angle shown in Fig. 4, i.e., X-axis is being just
Direction is 0 °, rotates to be positive direction counterclockwise, the axis angle of the 0th, 1,2,3,4, No. 5 antenna beam is respectively 0,60 °, 2*60 °,
3*60°,4*60°,5*60°.Assuming that each antenna has consistent amplitude characteristic, the corresponding function of directional diagram is F (θn×
60), each antenna normalized gain figure is as shown in Figure 5.It can be seen that having 2 strongest antennas i.e. in each 30 ° of section
The angle that label transmitting pulse reaches single base station can be obtained.Location algorithm based on direction of arrival degree is a kind of typical base
In the location algorithm of ranging, the arrival direction of transmitting node signal is perceived by certain hardware devices, calculates receiving node and anchor
Then relative bearing or angle between node recycle triangulation or other modes to calculate the position of unknown node.
AOA location technology algorithm communication come pin it is low, positioning accuracy it is higher based on impulse amplitude ratio to AOA carry out valuation.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is all according to
According to technical spirit any simple modification to the above embodiments of the invention, equivalent variations, protection of the invention is each fallen within
Within the scope of.
Claims (10)
1. a kind of wireless positioning monitoring system based on UWB technology, it is characterised in that: connect including single base station, antenna, with antenna
The radio-frequency module that connects, label, is connect with label and the acquisition module for detecting dangerous linkage source and aobvious monitoring service platform respectively
Display screen；The antenna, monitoring service platform, label are connect with single base station respectively；The acquisition module includes that far infrared surveys optical mode
Block, air quantity, air velocity transducer, gas sensor, PM2.5 dust sensor.
2. a kind of wireless positioning monitoring system based on UWB technology according to claim 1, it is characterised in that: described to penetrate
Frequency module includes radio frequency exchanger, CPU and baseband module；The radio frequency exchanger and baseband module are connect with CPU respectively.
3. a kind of wireless positioning monitoring system based on UWB technology according to claim 1, it is characterised in that: described remote
Infrared photometry module includes remote red sensor, AT89C51 single-chip microcontroller, in-phase amplifier, diode temperature compensation circuit, A/D turns
Parallel operation；Remote red sensor, in-phase amplifier, diode temperature compensation circuit, the A/D converter respectively with AT89C51 monolithic
Machine is connected.
4. a kind of wireless positioning monitoring system based on UWB technology according to claim 1, it is characterised in that: the mark
Label, acquisition module, display screen quantity be it is multiple, a display screen, an acquisition module are connect with a label respectively.
5. a kind of wireless location monitoring method based on UWB technology according to claim 1-4, feature exist
In: specifically includes the following steps:
Step S1: before label and single base station positioning, using single base station synchronous head by the time of label and single base station
It is synchronous；
Step S2: measuring the distance between label and single base station by TOA location technology using the single base station with antenna, then
Label, which is measured, by AOA location technology sends the angle that pulse reaches single base station；
Step S3: obtain label to single base station distance and angle, to obtain the three-dimensional position of label, and by the three of label
Dimension location information and label track are stored in monitoring service platform by single base station；
Step S4: detecting dangerous linkage source by the acquisition module connecting with label, and the information that will test passes through single base
Station is transmitted to monitoring service platform and in the display screen display connecting with label；
Step S5: if when the value of information in dangerous linkage source exceeds normal range value, danger linkage source information can be quickly through list
A base station transmission is alarmed.
6. a kind of wireless location monitoring method based on UWB technology according to claim 5, it is characterised in that: the step
In rapid S1: receiving to be spaced 1ms between window each of when single base station synchronous head and labeling task, receive the label of a synchronous head
Still it constantly monitors until receiving another synchronous head；What the time of the synchronous head detected by label and single base station generated
The ratio between the time of two synchronous heads obtains the clock frequency between label and single base station.
7. a kind of wireless location monitoring method based on UWB technology according to claim 6, it is characterised in that: the step
Rapid S2 specifically includes the following steps:
Step S21: antenna is normalized to 6 unit circular antenna arrays, i.e. the aerial array covering of 6 face directional aerials composition
360 ° of spaces；
Step S22:UWB signal enters system by each antenna receiving channel, after UWB signal is received by the antenna, passes through radio frequency
Module amplifies it, filters, AD is sent to CPU after quantifying and handles, and CPU mainly completes the detection of signal, direction estimation
With the function of switch control, aerial array after 6 to 1 radio-frequency module processing with single base station by being connected；
Step S23: determine label at a distance from single base station；It specifically refers to: by the single base station by measuring pulse from list
The summation of a base station to the time that the time of label and measurement pulse return single base station from tag reflection subtract single base station and mark
Total duration used in the label internal circuit processing time is determined；
Step S24: by comparing the signal amplitude of maximum two antennas in current each antenna, and then skill is positioned using AOA
Art obtains label angle.
8. a kind of wireless location monitoring method based on UWB technology according to claim 7, it is characterised in that: the step
Rapid S3 specifically includes the following steps:
Step S31: joint TOA location technology and the distance between AOA location technology label obtained and single base station and angle
Degree obtains the three-dimensional position of label, then is transferred to the three-dimensional position of label by single base station after being handled by radio-frequency module
Monitoring service platform is stored；
Step S32: after label is started to work, treated that label position biosynthesis locus is sent to monitoring service platform for radio-frequency module.
9. a kind of wireless location monitoring method based on UWB technology according to claim 8, it is characterised in that: the step
Rapid S4 specifically includes the following steps:
Step S41: the heat radiation that object issues touches the AT89C51 single-chip microcontroller that label far infrared is surveyed in optical module, in display screen
Data are simultaneously passed to monitoring service platform and stored by upper reading temperature data；
Step S42: for label in three-dimensional space motion, the acquisition module on label is to the air quantity around label, wind speed, device in Gas
Body and PM2.5 dust are acquired measurement, then collected information is read to be transmitted on a display screen and by single base station
Monitoring service platform.
10. a kind of wireless location monitoring method based on UWB technology according to claim 9, it is characterised in that: the step
In rapid S5: the acquisition module far red light detected, air quantity, wind speed, methane gas, PM2.5 dust on label are if danger
Link source information, if the dangerous linkage source information data value detected is beyond normal range value, danger linkage source information can be fast
Speed is alarmed by single base station transmission.
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| CN113920660A (en) * | 2021-09-30 | 2022-01-11 | 中国工商银行股份有限公司 | Safety monitoring method and system suitable for safety storage equipment |
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| WO2022087998A1 (en) * | 2020-10-30 | 2022-05-05 | 网络通信与安全紫金山实验室 | Method, system, and device for positioning and tracking communication terminal, and readable storage medium |
| CN112822325A (en) * | 2021-01-25 | 2021-05-18 | Oppo广东移动通信有限公司 | Positioning display control method and related device |
| CN113920660A (en) * | 2021-09-30 | 2022-01-11 | 中国工商银行股份有限公司 | Safety monitoring method and system suitable for safety storage equipment |
| CN113920660B (en) * | 2021-09-30 | 2023-04-18 | 中国工商银行股份有限公司 | Safety monitoring method and system suitable for safety storage equipment |
| 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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