CN109040964B - Efficient passive time division TDOA (time division difference of arrival) positioning method for eliminating clock frequency difference - Google Patents
Efficient passive time division TDOA (time division difference of arrival) positioning method for eliminating clock frequency difference Download PDFInfo
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- CN109040964B CN109040964B CN201811098432.5A CN201811098432A CN109040964B CN 109040964 B CN109040964 B CN 109040964B CN 201811098432 A CN201811098432 A CN 201811098432A CN 109040964 B CN109040964 B CN 109040964B
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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
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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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- 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
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention discloses a high-efficiency passive time division TDOA (time division difference of arrival) positioning method for eliminating clock frequency difference, wherein in the positioning process, a label node only receives a positioning signal and can complete positioning without sending the positioning signal to an anchor node, and under the positioning mode, the positioning of each label node can be completed no matter how many label nodes exist in a positioning area, so that the system capacity and the reliability are greatly improved; the anchor node clock synchronization does not need an additional synchronization network, thereby greatly improving the system efficiency and reducing the cost; and the present invention arranges N (N) in one region>1) The anchor nodes can obtain the maximum number in one positioning period from the perspective of permutation and combination
The larger N is different distance difference values, the more distance difference values are obtained by the label nodes, and the higher the positioning precision is.
Description
Technical Field
The invention belongs to the field of wireless positioning, and particularly relates to a TDOA (time difference of arrival) positioning technology.
Background
The wireless positioning system refers to a technology for positioning by measuring the position of a fixed or moving object using a linear constant-velocity propagation characteristic of radio waves. The radio positioning includes radar, radio direction finding, radio navigation system, global positioning system, and the like. Wireless positioning technologies can be divided into wide area network positioning technologies and wireless local area network positioning technologies, wherein the wide area network positioning technologies are divided into satellite positioning and base station cellular mobile positioning; the wireless local area network positioning mainly comprises Wi-Fi positioning, ZigBee positioning, UWB positioning, CSS positioning technology and the like.
In the current passive TDOA positioning method, the anchor node operation modes are roughly divided into three types: frequency division techniques, code division techniques (such as GPS positioning), and time division techniques. The frequency division or code division mode is direct, the label node can receive a plurality of anchor node signals at the same time, and TDOA information can be obtained by direct comparison on the premise of ensuring the time synchronization of the anchor nodes. However, some communication protocols (UWB, CSS, etc.) do not have sufficient frequency or code division capability, and only a time division manner can be adopted. In the time division mode, each anchor node cannot simultaneously transmit corresponding signals, and only can transmit corresponding signals in sequence, and after receiving the signals, the tag node also needs to calculate TDOA information by using the time of transmitting the corresponding signals by each anchor node, so that clocks of all the anchor nodes and the tag node need to be synchronized. If an additional wireless or wired synchronous network is adopted, the system cost is greatly increased, and the implementation in a local area network positioning system sensitive to the cost is very unfavorable. Therefore, how to achieve sufficient positioning accuracy and reliability without using an additional synchronization network in such TDOA positioning scenarios is a problem to be solved urgently.
Disclosure of Invention
In order to solve the technical problem, the invention provides an efficient passive time division TDOA (time division difference of arrival) positioning method for eliminating clock frequency difference, and a tag node only receives a positioning signal and can complete positioning without sending the positioning signal to an anchor node.
The technical scheme of the invention is as follows: a high-efficiency passive time division TDOA positioning method for eliminating clock frequency difference is characterized in that N anchor nodes are arranged in space, and a tag node calculates the signal arrival time difference between the tag node and two corresponding anchor nodes according to received positioning signals sent by two anchor nodes; and calculating coordinates of the label nodes according to the obtained multiple groups of arrival time differences.
Further, when one-dimensional positioning is carried out, N is at least greater than or equal to 2;
when the two-dimensional positioning is carried out, N is at least greater than or equal to 3;
when three-dimensionally oriented, then N is at least greater than or equal to 4.
Further, C2 was obtained at the maximumNGroup arrival time difference.
Further, there are two anchor nodes in each time slice that communicate.
Further, the two anchor nodes that calculate the arrival time difference are two anchor nodes in a certain time slice.
Further, the time difference of arrival calculation process is:
a1, numbering the anchor nodes, wherein the number of each anchor node is unique;
a2, in a positioning period, according to the determined communication sequence, except the starting point, each remaining anchor node sends two positioning signals according to the corresponding time interval after receiving the positioning signal of the last anchor node; the initial anchor node sends a primary positioning signal;
a3, the tag node calculates the signal arrival time difference between the tag node and two anchor nodes according to the received three positioning signals sent by the two anchor nodes;
a4, several groups of arrival time differences obtained according to step A3.
Further, step a2 further includes: and if the last anchor node of the current anchor node is not the initial anchor node, the anchor node sends the positioning signals twice according to the corresponding time interval after receiving the second positioning signal sent by the last anchor node.
Further, the three positioning signals in step a3 include: the last positioning signal sent by the anchor node with the communication sequence in front of the two anchor nodes and the twice positioning signals sent by the anchor node with the communication sequence in back.
Further, the step a3 specifically includes:
a31, the label node records the arrival time point of the received positioning signal from the anchor node according to its own clock;
a32, selecting any two anchor nodes to obtain the arrival time points of the positioning signals recorded by the two anchor nodes at the label node;
a33, according to the time point when the positioning signal sent by the anchor node before the communication sequence reaches the tag node for the second time, the anchor node after the communication sequence sends two times the positioning signal to reach the tag node; the signal arrival time difference between the tag node and the two anchor nodes is calculated.
The invention has the beneficial effects that: in the positioning process, anchor node communication applies a time division technology, only two anchor nodes communicate in the same time period, the anti-interference performance is high, the label node only receives a positioning signal and can complete positioning without sending the positioning signal to the anchor nodes, and under the positioning mode, the positioning of each label node can be completed no matter how many label nodes are in a positioning area, so that the system capacity and reliability are greatly improved; meanwhile, the invention arranges N (N) in one area>1) An anchor node, from the perspective of permutation and combination, can obtain C2 in a positioning periodN(N>1) The more the distance difference between the label node and different anchor nodes is, the lower the geometric precision factor (GDOP) is, and the higher the positioning precision is; in addition, the anchor node clock synchronization in the invention does not need an additional synchronization network, and is directly integrated in the positioning process, thereby greatly improving the system efficiency and reducing the cost.
Drawings
Fig. 1 is a schematic diagram of a tag node arrangement of two anchor nodes in one-dimensional positioning according to an embodiment of the present invention;
fig. 2 is a flowchart of positioning a tag node for two anchor nodes in positioning according to an embodiment of the present invention.
Detailed Description
In order to facilitate the understanding of the technical contents of the present invention by those skilled in the art, the present invention will be further explained with reference to the accompanying drawings.
The technical scheme of the invention is as follows: an efficient passive time division TDOA locating method for eliminating clock frequency difference is disclosed, in the locating process, the anchor node clock synchronization is not neededAnd an additional synchronous network is required, so that the system efficiency is greatly improved, and the cost is reduced. The label nodes only receive the positioning signals and can complete positioning without sending the positioning signals to the anchor nodes, and under the positioning mode, the positioning of each label node can be completed no matter how many label nodes are in the positioning area, so that the system capacity and the reliability are greatly improved. Meanwhile, the invention can obviously improve the positioning precision. Suppose N (N) is arranged in one region>1) The anchor nodes can obtain the maximum number in one positioning period from the perspective of permutation and combination
The larger N is different distance difference values, the more distance difference values are obtained by the label nodes, and the higher the positioning precision is.
As shown in fig. 1, the content of the present invention is explained by taking an example of an arrangement of two anchor nodes and one tag node:
in FIG. 1, Anchor1 is Anchor node No. 1, Anchor2 is Anchor node No. 2, and Tag is a Tag node.
Assumed to be at frequency fstandardAt the nominal frequency, the clock frequencies of the devices Anchor1, Anchor2 and Tag are fanchor1、 fanchor2、ftagThe frequency ratio to the nominal frequency is respectively Kanchor1、Kanchor2、KtagIn which K isanchor1＝fstandard/fanchor1、Kanchor2＝fstandard/fanchor2、Ktag＝fstandard/ftagFig. 2 shows a specific positioning process (in the following description, all time points are clocked by corresponding subscript device clocks); the method comprises the following specific steps:
I. suppose that at a certain time, the Anchor1 starts sending the positioning signal, and the time points of the anchors 1, Anchor2 and Tag corresponding to the respective clocks are tanc1、tanc2、ttag；
II ' the Anchor2 and Tag nodes receive a positioning signal of the Anchor1, and record the time point t ' of the arrival of the signal according to own clocks 'anc2、t'tag. Whereint'anc2＝tanc2+Kanchor2*LA1A2/c,t'tag＝ttag+Ktag*LA1TagAnd c, the ratio of the total weight to the total weight of the product. Wherein c is the speed of light in air;
III. Anchor2 at time t'anc2delayTime and 2 deltayTime, i.e. Anchor2 at t'anc2+ delayTime and t'anc2And +2 deltaytime time points, respectively sending a positioning signal once. Where delayTime is relative to fanchor2As such; typically between a few hundred microseconds to tens of millimeters.
The tag node receives the location signal of Anchor2 twice, and records the time t of the two signal arrivals "tagAnd t'tag。
Wherein, t "tag＝ttag+Ktag*(LA1A2/c+LA2Tag/c)+(Ktag/Kanchor2)*delayTime， t″′tag＝ttag+Ktag*(LA1A2/c+LA2Tag/c)+(Ktag/Kanchor2) 2 × delayTime; c is the speed of light in air.
And the Tag node calculates the arrival time difference according to the time signals.
Δt＝2*t”tag-t'tag-t”'tag＝2*[ttag+Ktag*(LA1A2/c+LA2Tag/c)+(Ktag/Kanchor2)*delayTime]-[ttag+Ktag*LA1Tag/c]-[ttag+Ktag*(LA1A2/c+LA2Tag/c)+(Ktag/Kanchor2)*2*delayTime]＝Ktag*(LA2Tag/c-LA1Tag/c+LA1A2/c),
Due to the distance L between anchor pointsA1A2As known, the distance difference L between the Tag node and the Anchor1 and Anchor2 nodes is obtainedA2Tag-LA1Tag＝(Δt/Ktag-LA1A2/c)*c。
From the formula LA2Tag-LA1Tag＝(Δt/Ktag-LA1A2C) c it can be seen that the calculated difference in distance is only equal to the clock frequency of the Tag pointRate dependent, independent of the clock frequency of the anchor node, and, 1-KtagOn the order of ppm (parts per million), the resulting range error on TDOA locations is negligible.
In case of more than 2 anchor nodes, the basic requirements for the arrangement of the anchor nodes are: the range of a polygon obtained by connecting the vertexes of all anchor nodes is larger than or equal to the positioning area; the order of communication between anchor nodes may be in single chain and round-robin fashion. Assume anchor nodes numbered 1, 2, 3, 4, 5, respectively. In a single-chain mode, a head anchor node and a tail anchor node are arranged in the anchor nodes, other anchor nodes can be combined in a pairwise manner in any sequence, and any anchor node can repeatedly appear in a chain, wherein the head anchor node is assumed to be the anchor node No. 1, the tail anchor node is the anchor node No. 5, and the working sequence can be 1- >2- >3- >5, or 1- >3- >4- >2- >3- >5 and the like. In the cyclic chain mode, the work sequence can be 1- >2- >3- >4- >5- >1, or 1- >3- >2- >5- >3- >4- >1, and the like. And the plurality of anchor nodes send positioning signals according to the planned sequence and the positioning process in each positioning period.
Under the condition that the number of the anchor nodes is larger than 2, if the last anchor node of the current anchor node is not the initial anchor node, the current anchor node sends the positioning signals twice, and after receiving the positioning signal sent by the last anchor node for the second time, the two positioning signals are respectively sent once after delaying delayTime and 2 × delayTime.
According to the method, in the case of arranging N anchor nodes, from the perspective of permutation and combination, the tag node can be obtained within one positioning period
The coordinates of the TAG node can be calculated by using a general TDOA positioning algorithm, such as solving a hyperbolic equation set, kalman filtering, and the like.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (7)
1. A high-efficiency passive time division TDOA positioning method for eliminating clock frequency difference is characterized in that N anchor nodes are arranged in space, and a tag node calculates the signal arrival time difference between the tag node and two anchor nodes according to received positioning signals sent by the two anchor nodes; calculating coordinates of the label nodes according to the plurality of groups of arrival time differences; the arrival time difference calculation process comprises the following steps:
a1, numbering the anchor nodes, wherein the number of each anchor node is unique;
a2, in a positioning cycle, according to the determined communication sequence, except the starting point, each remaining anchor node sends two positioning signals according to the corresponding time interval after receiving the positioning signal of the last anchor node; the initial anchor node sends a primary positioning signal;
a3, the tag node calculates the signal arrival time difference between the tag node and two anchor nodes according to the received three positioning signals sent by the two anchor nodes; the specific process of the step A3 is as follows:
a31, the label node records the arrival time point of the received positioning signal from the anchor node according to its own clock;
a32, selecting any two anchor nodes to obtain the arrival time points of the positioning signals recorded by the two anchor nodes at the label node;
a33, recording the time point t 'of the arrival of the positioning signal at the tag node, which is transmitted for the second time by the anchor node before the communication sequence'tagThe two time points of the anchor node with the communication sequence behind, which send twice positioning signals to the label node, are sequentially t "tag、t”'tag(ii) a The difference in signal arrival time between the tag node and the two anchor nodes is 2 t "tag-t'tag-t”'tag；
A4, several groups of arrival time differences obtained according to step A3.
2. The method of claim 1 wherein when positioning in one dimension, then N is at least 2 or greater;
when the two-dimensional positioning is carried out, N is at least greater than or equal to 3;
when three-dimensionally oriented, then N is at least greater than or equal to 4.
3. The method of claim 2 wherein the maximum number of available passive time-division TDOA locations that are efficient in eliminating clock frequency differences is obtained
Group arrival time difference.
4. An efficient passive time division TDOA location method removing clock frequency differences as recited in claim 1, wherein the anchor nodes use time division communication, and two anchor nodes communicate in each time slice.
5. The method of claim 4 wherein the two anchor nodes that calculate the time difference of arrival are two anchor nodes in a time slice.
6. The method for efficient passive time division TDOA location removing clock frequency differences according to claim 5, wherein step a2 further comprises: and if the last anchor node of the current anchor node is not the initial anchor node, the anchor node sends the positioning signals twice according to the corresponding time interval after receiving the second positioning signal sent by the last anchor node.
7. The method for efficient passive time division TDOA location based on elimination of clock frequency differences as recited in claim 6, wherein said tertiary location signal in step a3 comprises: the second transmitted positioning signal of the anchor node in the two anchor nodes with the communication order before and the second transmitted positioning signal of the anchor node with the communication order after.
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| CN110376551B (en) * | 2019-07-04 | 2021-05-04 | 浙江大学 | TDOA (time difference of arrival) positioning method based on acoustic signal time-frequency joint distribution |
| CN112351381B (en) * | 2019-08-07 | 2022-05-17 | 华为云计算技术有限公司 | Positioning method and device |
| CN110568404B (en) * | 2019-08-16 | 2022-04-19 | 中国人民解放军63921部队 | Forwarding type indoor positioning method and device |
| CN112969231A (en) | 2019-12-12 | 2021-06-15 | 中磊电子（苏州）有限公司 | Ultra-wideband positioning system, base station, tag and operating method thereof |
| CN111866710B (en) * | 2020-07-01 | 2024-04-05 | 黄珊 | UWB positioning system, tag positioning method and device |
| CN112073905B (en) * | 2020-09-15 | 2022-10-28 | Oppo广东移动通信有限公司 | Distance difference determining method, data frame transmission method and related product |
| CN112995891A (en) * | 2021-02-08 | 2021-06-18 | 青岛联合创智科技有限公司 | Parking lot vehicle positioning method and system based on UWB |
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