CN109061565A - A kind of UWB high-accuracy position system and its method - Google Patents
A kind of UWB high-accuracy position system and its method Download PDFInfo
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- CN109061565A CN109061565A CN201810702118.7A CN201810702118A CN109061565A CN 109061565 A CN109061565 A CN 109061565A CN 201810702118 A CN201810702118 A CN 201810702118A CN 109061565 A CN109061565 A CN 109061565A
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- 238000010304 firing Methods 0.000 claims description 10
- 230000004807 localization Effects 0.000 claims description 9
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- 238000004364 calculation method Methods 0.000 abstract description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- General Physics & Mathematics (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Disclose a kind of UWB high-accuracy position system and its method.By the way that the UWB locating signal receiver of known location is arranged in positioning system, the time difference of UWB positioning signal transmitter transmitting positioning signal is got.In the present invention, it is known that the UWB locating signal receiver of position receives the positioning signal of UWB positioning signal transmitter transmitting, and records its clocking value for reaching itself, and by the clocking value without calculating, directly broadcast to each positioning terminal.Positioning terminal select according to their needs part be suitable for itself carrying out the corresponding calculated corresponding time complexity curve value of clocking value of positioning UWB positioning signal transmitter.Compared to using known location UWB locating signal receiver complete All Time correction value calculating after again to time complexity curve value described in each devices broadcasting to be positioned, the timeliness of acquisition time correction value is greatly strengthened, and reduces the calculation amount of the UWB locating signal receiver of known location.
Description
Technical field
The present invention relates to UWB high accuracy positioning fields, and in particular to a kind of UWB high-accuracy position system and its method.
Background technique
Short distance, high-precision indoor positioning technologies are very widely used in urban compact region and indoor enclosure space.UWB
(Ultra Wide Band, ultra wide band) signal is widely used in location technology with its higher temporal resolution, and UWB is fixed
A kind of signal transmitting and receiving mode of position system is that locating base station emits positioning signal, and device to be positioned receives positioning signal, and utilizes
Arrival time TOA (Time of Arrivial) location algorithm or reaching time-difference TDOA (Time Difference of
Arrivial) location algorithm realizes the positioning for treating positioning device.TOA positioning needs each locating base station and device to be positioned accurate
The synchronous positioning for being just able to achieve degree of precision of clock；TDOA positioning needs each locating base station transmitting positioning signal known accurate
Sequential relationship.It is each to determine that the method for emitting positioning signal sequential relationship between each locating base station mainly makes in the prior art
Realize that accurate clock is synchronous between locating base station, there are mainly two types of common synchronous method, first is that in each locating base station respectively
Comprising accurate synchronised clock, such as atomic clock, this method higher cost, and need periodically to carry out clock alignment to it；Second is that
Synchronous signal transmission between each locating base station, it includes synchronous signal receiver machine that the method, which needs each locating base station, and the receiver needs
Synchronization signal is filtered, is amplified, the processing such as shaping, structure is complex, and cost and power consumption are all higher, and synchronization system
Exist independently of positioning system, causes the wasting of resources.
There is the positioning signal reception device that known location is added in positioning system in this field as a result, and to be positioned
Device receives the positioning signal of locating base station transmitting jointly, and record location signal reaches the time value of itself, it is known that position
Positioning signal reception device using positioning signal reach itself time value, itself location information and locating base station position
Information clears out the time difference of locating base station transmitting positioning signal, since the time difference is absolute time segment information,
It is synchronous no matter whether device to be positioned and the positioning signal reception device of the known location carry out clock, be equally applicable to
Positioning device.When resolving the position of device to be positioned using TDOA location algorithm, need to use at least three locating base stations,
In the more positioning system of locating base station, the locating base station that device selection to be positioned is wherein best suited for self poisoning is determined
Position, it is thus known that the positioning signal reception device of position needs to calculate the time of every two locating base station transmitting positioning signal
Difference, to adapt to the selection of different devices to be positioned.However, in the more positioning system of locating base station, it is known that position
Positioning signal reception device takes a long time the time difference for calculating every two locating base station transmitting positioning signal, works as completion
After all calculating again to time difference described in each devices broadcasting to be positioned when seriously affected and treat the timeliness that positioning device positions
Property.
Therefore, how the time difference of the acquisition locating base station transmitting positioning signal of high-timeliness becomes this field for research
The problem of researcher's urgent need to resolve.
Summary of the invention
According to one aspect of the present invention, a kind of UWB high-accuracy position system, including at least one UWB positioning letter are disclosed
Number transmitter group and at least one master controller for synchronizing control to UWB positioning signal transmitter group, 1 UWB
Positioning signal transmitter group includes N number of UWB positioning signal transmitter, wherein and N is the integer equal to or more than 3, any one
Wireless communication is realized between UWB positioning signal transmitter and master controller；It further include at least one positioning terminal, positioning terminal
The UWB positioning signal issued for receiving each UWB positioning signal transmitter, realizes nothing between positioning terminal and master controller
Line communication；It further include the UWB locating signal receiver of at least one known location, it is known that the UWB locating signal receiver of position is used
In the UWB positioning signal for receiving each UWB positioning signal transmitter sending, also, it is known that the UWB locating signal receiver of position
Wireless communication is realized between positioning terminal, master controller respectively.
According to another aspect of the invention, a kind of UWB localization method is disclosed, comprising the following steps: master controller
Firing order is sent to UWB positioning signal transmitter, each UWB positioning signal transmitter receives the firing order and certain
Time interval within the scope of send UWB positioning signal respectively, the UWB positioning signal transmitter has known location；Center control
Device processed transmits and receives instruction to UWB locating signal receiver and positioning terminal, and UWB locating signal receiver and positioning terminal receive
Reception pattern is opened to after receiving instruction, and receives UWB positioning signal；UWB locating signal receiver is received and is recorded and connects
The receiving time for receiving each UWB positioning signal obtains the first clocking value group, wherein UWB locating signal receiver has known
Position；Positioning terminal records the receiving time for receiving each UWB positioning signal, obtains the second timing corresponding with itself
Value group, and each positioning terminal also receives the first clocking value group from UWB locating signal receiver；Each positioning terminal passes through
The position of UWB locating signal receiver, the position of UWB positioning signal transmitter and the first clocking value group obtain positioning system
Time complexity curve value, and each positioning terminal is by the time complexity curve value, obtain only with this positioning terminal and positioning signal
The corresponding timing amount of distance between transmitter, and each positioning terminal by the second clocking value group corresponding with itself with
And the position of UWB positioning signal transmitter, the position of this positioning terminal is calculated by TDOA algorithm.
The present invention gets UWB positioning letter by the UWB locating signal receiver of the setting known location in positioning system
The time difference of number transmitter transmitting positioning signal.In the present invention, it is known that the UWB locating signal receiver of position receives UWB
The positioning signal of positioning signal transmitter transmitting, and its clocking value for reaching itself is recorded, and by the clocking value without meter
It calculates, directly broadcast to each positioning terminal.Positioning terminal selects part according to their needs and is suitable for positioning itself
The calculated corresponding time complexity curve value of the corresponding clocking value of UWB positioning signal transmitter.Compared to utilize known bits
It is repaired again to the time described in each devices broadcasting to be positioned after the calculating for the UWB locating signal receiver completion All Time correction value set
Positive value, greatly strengthens the timeliness of acquisition time correction value, and reduces the meter of the UWB locating signal receiver of known location
Calculation amount.
Detailed description of the invention
Fig. 1 provides a kind of schematic diagram of UWB high-accuracy position system 100 according to the present invention；
Fig. 2 provides a kind of flow chart of UWB high-precision locating method 200 according to the present invention.
Specific embodiment
Specific embodiments of the present invention are described more fully below, it should be noted that the embodiments described herein is served only for illustrating
Illustrate, is not intended to restrict the invention.In the following description, in order to provide a thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that: this hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, well known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " one embodiment ", " embodiment ", " example " or " example "
: a particular feature, structure, or characteristic described in conjunction with this embodiment or example is comprised at least one embodiment of the invention.
Therefore, the phrase " in one embodiment ", " in embodiment ", " example " occurred in each place of the whole instruction
Or " example " is not necessarily all referring to the same embodiment or example.Furthermore, it is possible in any suitable combination and or sub-portfolio will be specific
Feature, structure or characteristic combine in one or more embodiment or examples.In addition, those of ordinary skill in the art should manage
Solution, diagram is provided to the purpose of explanation provided herein, and diagram is not necessarily drawn to scale.It should be appreciated that working as
Claim " element " " being connected to " or when " coupled " to another element, it, which can be, is directly connected or coupled to another element or can be with
There are intermediary elements.On the contrary, cental element is not present when claiming element " being directly connected to " or " being directly coupled to " another element
Part.Identical appended drawing reference indicates identical element.Term "and/or" used herein includes that one or more correlations are listed
Any and all combinations of project.
Fig. 1 provides a kind of schematic diagram of the UWB high-accuracy position system 100 of embodiment according to the present invention.The present embodiment institute
A kind of UWB high-accuracy position system 100 stated illustratively includes 1 UWB positioning signal transmitter group and is used to determine UWB
Position sender unit group synchronizes 1 master controller CC of control, wherein UWB positioning signal transmitter group include it is N number of
Know that the UWB positioning signal transmitter of position, N are the integer equal to or more than 3, N takes 5, UWB positioning signal to send out in the present embodiment
Sending device is respectively BS1-BS5.Wireless communication is realized between any one UWB positioning signal transmitter and master controller CC.It is fixed
Position system 100 also illustratively includes 2 positioning terminals MS1 and MS2, and positioning terminal is for receiving each UWB positioning signal hair
The UWB positioning signal for sending device to issue realizes wireless communication between positioning terminal and master controller CC.Positioning system 100 is also shown
It include to example property the UWB locating signal receiver PS of 1 known location, it is known that the UWB locating signal receiver PS of position is used for
The UWB positioning signal that each UWB positioning signal transmitter issues is received, also, it is known that the UWB locating signal receiver PS of position
Wireless communication is realized between positioning terminal MS1, MS2 and master controller CC respectively.Again in one embodiment, positioning system
System 100 includes the UWB locating signal receiver of two or more known locations.
Master controller CC sends to UWB positioning signal transmitter BS1-BS5 and instructs, UWB positioning signal transmitter BS1-
After BS5 receives instruction, UWB positioning signal is sent respectively within the scope of certain time interval.Master controller CC transmission connects
Instruction, positioning terminal MS1 and MS2 unlatching reception pattern synchronous with the UWB locating signal receiver PS of known location are received, and is waited
The arrival of UWB positioning signal.After the UWB locating signal receiver PS of known location receives different UWB positioning signals, record
Lower different receiving time T1-T5 respectively corresponds the positioning signal of UWB positioning signal transmitter BS1-BS5 transmission, is denoted as first
Clocking value group, and the first clocking value group is sent to positioning terminal MS1 and MS2.Positioning terminal MS1 and MS2 receive difference
UWB positioning signal after, record different receiving time TM1_1-TM1_5 and TM2_1-TM2_5 respectively, obtain and itself
Corresponding second clocking value group, and receive the first clocking value group of the UWB locating signal receiver from known location.
Positioning terminal is sent using the position coordinates and UWB positioning signal of the UWB locating signal receiver PS of known location
The position coordinates of device and the first clocking value group obtain the time complexity curve value of positioning system, and utilize the time complexity curve value, removal
Fall offset and error brought by coarse synchronization control and circuit time are swung in positioning terminal, obtains only whole with this positioning
End recycles the second clocking value group corresponding with itself with the corresponding timing amount of distance between corresponding positioning signal transmitter
And the position coordinates of UWB positioning signal transmitter, the position of this positioning terminal is calculated by TDOA algorithm.
It will be appreciated by those skilled in the art that realize the two-dimensional localization to positioning terminal using TDOA location algorithm,
Then at least need three UWB positioning signal transmitters.And the positional relationship of UWB positioning signal transmitter and positioning terminal will affect
To the positioning accuracy of positioning terminal.As shown in Figure 1, for positioning terminal MS1, using UWB positioning signal transmitter BS1, BS2,
BS3, which positions it, can obtain higher positioning accuracy；For positioning terminal MS2, using UWB positioning signal transmitter BS3, BS4,
BS5, which positions it, can obtain higher positioning accuracy.
In one embodiment, positioning terminal MS1 utilizes the position coordinates of the UWB locating signal receiver PS of known location
With being sent with UWB positioning signal in the position coordinates of UWB positioning signal transmitter BS1, BS2, BS3 and the first clocking value group
Device BS1, BS2, BS3 corresponding receiving time T1, T2, T3 obtain the time complexity curve value of positioning system, and are repaired using the time
Positive value is got rid of offset and error brought by coarse synchronization control and circuit time are swung in positioning terminal, is obtained only
With this positioning terminal with the corresponding timing amount of distance between corresponding positioning signal transmitter, corresponding with itself the is recycled
The position coordinates of TM1_1, TM1_2, TM1_3 and UWB positioning signal transmitter BS1, BS2, BS3 in two clocking value groups lead to
Cross the position that TDOA algorithm calculates positioning terminal MS1.Positioning terminal MS2 utilizes the UWB locating signal receiver of known location
The position coordinates of PS and the position coordinates of UWB positioning signal transmitter BS3, BS4, BS5 and in the first clocking value group and UWB
Positioning signal transmitter BS3, BS4, BS5 corresponding receiving time T3, T4, T5 obtain the time complexity curve value of positioning system, and
Using the time complexity curve value, get rid of in positioning terminal due to coarse synchronization control and circuit time swing brought by offset and
Error, obtains only with this positioning terminal with the corresponding timing amount of distance between corresponding positioning signal transmitter, recycle with
TM2_3, TM2_4, TM2_5 and UWB positioning signal transmitter BS3, BS4, BS5's in itself corresponding second clocking value group
Position coordinates calculate the position of positioning terminal MS2 by TDOA algorithm.
Be described below positioning terminal how acquisition time correction value, with positioning terminal MS1 obtain UWB positioning signal transmitter
It is illustrated for the time complexity curve value of BS1 and BS2 transmitting positioning signal.Due to UWB positioning signal transmitter BS1 and BS2 with
And the position of the UWB locating signal receiver PS of known location is it is known that then UWB positioning signal transmitter BS1 and BS2 and known bits
The UWB locating signal receiver PS distance set is it is known that being denoted as d1 and d2.UWB positioning signal transmitter BS1 and BS2 transmitting
Positioning signal reach known location UWB locating signal receiver PS at the time of be T1 and T2, by known location UWB position
Signal receiver PS is recorded and on the basis of UWB locating signal receiver PS itself clock of known location.According to above-mentioned known
When the available UWB locating signal receiver PS clock when using known location of information is benchmark, UWB positioning signal transmitter
It is TS1 and TS2 at the time of BS1 and BS2 transmitting positioning signal, expression formula such as formula (1) and formula (2) provide.
Wherein c is the spread speed of positioning signal in free space.Formula (1) and formula (2) are made the difference into available formula
(3)。
Wherein TS12 is that UWB positioning signal transmitter BS1 and BS2 transmitting positioning signal are fixed relative to the UWB of known location
The launch time of the clock of position signal receiver PS is poor.It will be appreciated by those skilled in the art that the emission time phase of positioning signal
Different values is had for different clocks, but the launch time difference between positioning signal is all equal relative to any clock.
Therefore, TS12 is also hair of UWB positioning signal transmitter BS1 and BS2 the transmitting positioning signal relative to the clock of positioning terminal MS1
Penetrate the time difference.The launch time difference is the time complexity curve value of UWB positioning signal transmitter BS1 and BS2 transmitting positioning signal.
In one embodiment, positioning terminal MS1 utilizes the time complexity curve value, gets rid of in positioning terminal MS1 due to thick
Slightly synchronously control and circuit time swing brought offset and error, obtain only positioning with positioning terminal MS1 with corresponding UWB
The corresponding timing amount TS12 ' of distance between sender unit BS1 and BS2.Timing amount TS12 '=(the dm1-dm2)/c=
TM1_1-TM1_2-TS12.Wherein, dm1-dm2 distance between positioning terminal MS1 and UWB positioning signal transmitter BS1 and BS2
Difference, TM1_1 and TM1_2 are that the positioning signal of UWB positioning signal transmitter BS1 and BS2 transmitting reaches the timing of positioning terminal MS1
Value.Positioning terminal MS1 is calculated using timing amount TS12 ' and the position coordinates of UWB positioning signal transmitter by TDOA algorithm
The position of this positioning terminal out.
In one embodiment, it is known that the first clocking value group is sent to center by the UWB locating signal receiver PS of position
Controller CC, each positioning terminal, which connects, is sent to master controller CC for the second clocking value group, and master controller CC is utilized
The position coordinates of the UWB locating signal receiver of known location and the position coordinates of UWB positioning signal transmitter and the first meter
Duration group obtains the time complexity curve value of positioning system, and utilizes the time complexity curve value, gets rid of in positioning terminal due to rough same
Step control and circuit time swing brought offset and error, obtain only with positioning terminal with corresponding positioning signal transmitter
Between the corresponding timing amount of distance, then calculate by TDOA algorithm the position of each positioning terminal.
In one embodiment, the UWB locating signal receiver PS of each positioning terminal and known location includes multichannel
High precision clock opens the same of reception pattern when each positioning terminal is synchronous with the UWB locating signal receiver PS of known location
When, respective duplex high precision clock is resetted, high precision clock is made to start timing, and waits the arrival of UWB positioning signal.It is known
After the UWB locating signal receiver of position receives the UWB positioning signal that first reaches, it is corresponding to stop the UWB positioning signal
High precision clock all the way, obtain a clocking value；Similarly, after receiving the UWB positioning signal that second reaches, stopping should
The corresponding high precision clock all the way of UWB positioning signal, clocking value of getting back；And so on, it is reached when receiving the last one
After the UWB positioning signal arrived, stops the corresponding high precision clock all the way of the UWB positioning signal, obtain the last one clocking value.
The invention discloses a kind of UWB high-accuracy position systems.It is fixed by the UWB that known location is arranged in positioning system
Position signal receiver gets the time difference of UWB positioning signal transmitter transmitting positioning signal.In the present invention, it is known that position
The UWB locating signal receiver set receives the positioning signal of UWB positioning signal transmitter transmitting, and records its meter for reaching itself
Duration, and by the clocking value without calculating, directly broadcast to each positioning terminal.Positioning terminal is selected according to their needs
Part be suitable for itself carry out the corresponding clocking value of positioning UWB positioning signal transmitter it is calculated corresponding when
Between correction value.Compared to using known location UWB locating signal receiver complete All Time correction value calculating after again to
Time complexity curve value described in each devices broadcasting to be positioned, greatly strengthens the timeliness of acquisition time correction value, and reduces known
The calculation amount of the UWB locating signal receiver of position.
Fig. 2 provides a kind of flow chart of UWB high-precision locating method 200 according to the present invention.The localization method 200 includes
Following steps:
Step 201: master controller CC sends firing order, each UWB positioning signal hair to UWB positioning signal transmitter
It send device to receive the firing order and sends UWB positioning signal respectively within the scope of certain time interval；
Step 202: master controller CC is transmitted and received to UWB locating signal receiver PS and positioning terminal MS and is instructed, and two
Person opens reception pattern after receiving reception instruction, and receives UWB positioning signal, wherein UWB positioning signal transmitter has
Known location；
Step 203: the UWB locating signal receiver PS of known location, which is received and recorded, receives each UWB positioning letter
Number receiving time, obtain the first clocking value group；
Step 204: positioning terminal MS records the receiving time for receiving each UWB positioning signal, obtains and itself phase
Corresponding second clocking value group, and each positioning terminal MS also receives the first clocking value from UWB locating signal receiver PS
Group；
Step 205: positioning terminal MS passes through the position of UWB locating signal receiver PS, the position of UWB positioning signal transmitter
It sets and the first clocking value group obtains the time complexity curve value of positioning system, and by time complexity curve value, obtain only whole with this positioning
Hold the corresponding timing amount of distance between MS and positioning signal transmitter, and each positioning terminal pass through it is corresponding with itself
The position of second clocking value group and UWB positioning signal transmitter, the position of this positioning terminal MS is calculated by TDOA algorithm.
In one embodiment, localization method 200 further include: master controller CC connects from UWB locating signal receiver PS
It receives the first clocking value group and receives the second clocking value group from positioning terminal MS, and the master controller CC is fixed by UWB
The position of position signal receiver, the position of UWB positioning signal transmitter and the first clocking value group obtain the time of positioning system
Correction value, and the master controller is by the time complexity curve value, obtain only with positioning terminal MS and positioning signal transmitter
Between the corresponding timing amount of distance, and the master controller CC passes through the second clocking value group corresponding with itself and UWB
The position of positioning signal transmitter calculates the position of positioning terminal by TDOA algorithm
As the above mentioned, although having illustrated and described the preferred embodiment of the present invention, without departing substantially from this hair
In the case where bright spirit and scope, many changes can be carried out.The scope of the present invention is not by the open institute of preferred embodiment as a result,
Limitation.But the present invention should be determined entirely by reference to following claims.
Claims (10)
1. a kind of UWB positioning system, which is characterized in that the UWB positioning system includes:
Master controller sends firing order and receives instruction；
UWB positioning signal transmitter, which is characterized in that the UWB positioning signal transmitter has known location, and described each
UWB positioning signal transmitter receives the firing order and sends UWB positioning signal respectively within the scope of certain time interval；
UWB locating signal receiver, which is characterized in that the UWB locating signal receiver has known location, and the UWB is fixed
Position signal receiver receives the reception instruction to open reception pattern, and the UWB locating signal receiver is received and recorded
The receiving time for receiving each UWB positioning signal obtains the first clocking value group；And
Positioning terminal, which is characterized in that the positioning terminal receive receptions instruct with the UWB locating signal receiver
Synchronous to open reception pattern, each positioning terminal receives and records the receiving time for receiving each UWB positioning signal,
Obtain the second clocking value group corresponding with itself, and each positioning terminal also receives the from UWB locating signal receiver
One clocking value group；
It is characterized in that, each positioning terminal passes through the position of UWB locating signal receiver, UWB positioning signal transmitter
Position and the first clocking value group obtain the time complexity curve value of positioning system, and each positioning terminal passes through the time
Correction value obtains the only corresponding timing amount of distance between this positioning terminal and positioning signal transmitter, and described each fixed
Position terminal passes through TDOA algorithm meter by the second clocking value group corresponding with itself and the position of UWB positioning signal transmitter
Calculate the position of this positioning terminal.
2. UWB positioning system as described in claim 1, which is characterized in that each positioning terminal passes through UWB positioning signal
It is positioned in the position of receiver and the position of part UWB positioning signal transmitter and the first clocking value group with the part UWB
The corresponding clocking value of sender unit obtains the time corresponding with the part UWB positioning signal transmitter in positioning system and repairs
Positive value, recycle and itself corresponding second clocking value group in clocking value corresponding with the part UWB positioning signal transmitter
With the position of the part UWB positioning signal transmitter, the position of this positioning terminal is calculated by TDOA algorithm.
3. UWB positioning system as described in claim 1, which is characterized in that
Master controller sends firing order and receives instruction；
UWB positioning signal transmitter, which is characterized in that the UWB positioning signal transmitter has known location, and described each
UWB positioning signal transmitter receives the firing order and sends UWB positioning signal respectively within the scope of certain time interval；
UWB locating signal receiver, which is characterized in that the UWB locating signal receiver has known location, and the UWB is fixed
Position signal receiver receives the reception instruction to open reception pattern, and the UWB locating signal receiver is received and recorded
The receiving time for receiving each UWB positioning signal obtains the first clocking value group；And
Positioning terminal, which is characterized in that the positioning terminal receive receptions instruct with the UWB locating signal receiver
Synchronous to open reception pattern, each positioning terminal receives and records the receiving time for receiving each UWB positioning signal,
Obtain the second clocking value group corresponding with itself；
It is characterized in that, the master controller from UWB locating signal receiver receives the first clocking value group and from the positioning
Terminal receives the second clocking value group, and the master controller is positioned by the position of UWB locating signal receiver, UWB
The position of sender unit and the first clocking value group obtain the time complexity curve value of positioning system, and the master controller passes through
The time complexity curve value obtains the only corresponding timing amount of distance between positioning terminal and positioning signal transmitter, and described
Master controller is calculated by the second clocking value group corresponding with itself and the position of UWB positioning signal transmitter by TDOA
Method calculates the position of positioning terminal.
4. UWB positioning system as described in any one of claims 1-3, which is characterized in that each positioning terminal and UWB are fixed
Position signal receiver includes multipath clock, when each positioning terminal unlatching reception pattern synchronous with UWB locating signal receiver
While, each positioning terminal resets respective multipath clock so that multipath clock starts with UWB locating signal receiver
Timing.
5. UWB positioning system according to claim 4, which is characterized in that the UWB locating signal receiver receives
After one UWB positioning signal reached, stops the corresponding clock all the way of the UWB positioning signal, obtain first clocking value；UWB
After locating signal receiver receives the UWB positioning signal that second reaches, stop the UWB positioning signal it is corresponding all the way when
Clock obtains second clocking value；After receiving the UWB positioning signal that the last one reaches, it is corresponding to stop the UWB positioning signal
Clock all the way, obtain the last one clocking value.
6. a kind of UWB localization method, which comprises the following steps:
Master controller sends firing order to UWB positioning signal transmitter, and each UWB positioning signal transmitter receives the hair
It penetrates and instructs and send respectively within the scope of certain time interval UWB positioning signal, the UWB positioning signal transmitter has
Know position；
Master controller transmits and receives instruction to UWB locating signal receiver and positioning terminal, UWB locating signal receiver and fixed
Position terminal opens reception pattern after receiving reception instruction, and receives UWB positioning signal；
UWB locating signal receiver receives and records the receiving time for receiving each UWB positioning signal, obtains the first timing
Value group, wherein UWB locating signal receiver has known location；
Positioning terminal records the receiving time for receiving each UWB positioning signal, obtains the second timing corresponding with itself
Value group, and each positioning terminal also receives the first clocking value group from UWB locating signal receiver；
Each positioning terminal passes through the position of UWB locating signal receiver, the position of UWB positioning signal transmitter and the first meter
Duration group obtains the time complexity curve value of positioning system, and each positioning terminal is by the time complexity curve value, obtain only with
The corresponding timing amount of distance between this positioning terminal and positioning signal transmitter, and each positioning terminal by with itself
The position of corresponding second clocking value group and UWB positioning signal transmitter calculates this positioning terminal by TDOA algorithm
Position.
7. UWB localization method as claimed in claim 6, which is characterized in that each positioning terminal passes through UWB positioning signal
It is positioned in the position of receiver and the position of part UWB positioning signal transmitter and the first clocking value group with the part UWB
The corresponding clocking value of sender unit obtains the time corresponding with the part UWB positioning signal transmitter in positioning system and repairs
Positive value, recycle and itself corresponding second clocking value group in clocking value corresponding with the part UWB positioning signal transmitter
With the position of the part UWB positioning signal transmitter, the position of this positioning terminal is calculated by TDOA algorithm.
8. UWB localization method as claimed in claim 6, which comprises the following steps:
Master controller sends firing order to UWB positioning signal transmitter, and each UWB positioning signal transmitter receives the hair
It penetrates and instructs and send respectively within the scope of certain time interval UWB positioning signal, the UWB positioning signal transmitter has
Know position；
Master controller transmits and receives instruction to UWB locating signal receiver and positioning terminal, UWB locating signal receiver and fixed
Position terminal opens reception pattern after receiving reception instruction, and receives UWB positioning signal；
UWB locating signal receiver receives and records the receiving time for receiving each UWB positioning signal, obtains the first timing
Value group, wherein UWB locating signal receiver has known location；
Positioning terminal records the receiving time for receiving each UWB positioning signal, obtains the second timing corresponding with itself
Value group；
Master controller receives the first clocking value group from UWB locating signal receiver and receives described second from the positioning terminal
Clocking value group, and the master controller passes through the position of UWB locating signal receiver, the position of UWB positioning signal transmitter
And first clocking value group obtain the time complexity curve value of positioning system, and the master controller is by the time complexity curve value,
Obtain the only corresponding timing amount of distance between positioning terminal and positioning signal transmitter, and the master controller by with
The position of itself corresponding second clocking value group and UWB positioning signal transmitter, calculates positioning terminal by TDOA algorithm
Position.
9. such as the described in any item UWB localization methods of claim 6-8, which is characterized in that each positioning terminal and UWB are fixed
Position signal receiver includes multipath clock, when each positioning terminal unlatching reception pattern synchronous with UWB locating signal receiver
While, each positioning terminal resets respective multipath clock so that multipath clock starts with UWB locating signal receiver
Timing.
10. UWB localization method according to claim 9, which is characterized in that the UWB locating signal receiver receives
After first UWB positioning signal reached, stops the corresponding clock all the way of the UWB positioning signal, obtain first clocking value；
After UWB locating signal receiver receives the UWB positioning signal that second reaches, it is corresponding all the way to stop the UWB positioning signal
Clock obtains second clocking value；After receiving the UWB positioning signal that the last one reaches, stop the UWB positioning signal pair
The clock all the way answered, obtains the last one clocking value.
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