CN109462888A - A kind of ultra-wideband positioning system for eliminating wide and narrow strip interference - Google Patents
A kind of ultra-wideband positioning system for eliminating wide and narrow strip interference Download PDFInfo
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- CN109462888A CN109462888A CN201811646450.2A CN201811646450A CN109462888A CN 109462888 A CN109462888 A CN 109462888A CN 201811646450 A CN201811646450 A CN 201811646450A CN 109462888 A CN109462888 A CN 109462888A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
Abstract
The invention discloses the ultra-wideband positioning systems that one kind can eliminate wide and narrow strip interference, including UWB to position label, ultra-wide band signal pulses is issued, for returning location data；UWB locating base station, the ultra-wide band signal pulses issued for receiving UWB positioning label, has ultra-wideband impulse radio interference eliminator, for eliminating ultra-wideband impulse radio interference signal；Location-server sends ultra-wide band signal pulses for receiving UWB locating base station, and derivation operation generates location information；Data server, for storing cartographic information；Visualization location information is believed and generated to the map of presence server, the location information generated for coordinate interrelation server and data server storage, and present system can eliminate broadband or narrowband interference, and positioning accuracy is high, strong interference immunity；And if there is defect or mismatch to each branch and has good robustness in interference eliminator in system；Its location algorithm is applicable to all radio ultra wide band systems positioned using pulse detection mode.
Description
Technical field
The invention belongs to super wideband wireless field of locating technology, and the ultra-wide of wide and narrow strip interference can be eliminated more particularly, to one kind
Band positioning system.
Background technique
Service (Location Based Services, LBS) based on position identification is related to national security, economic hair
Exhibition and the social people's livelihood have very important and indispensable ground in this strategic emerging industries of generation information technology
Position, plays important basis in fields such as Internet of Things, the wisdom earth, energy-saving and emission-reduction, disaster relief mitigations.Realizing the key of LBS is
Location technology.The demand navigated with the rapid proliferation of smart phone and mobile Internet, people to indoor and outdoor high accuracy positioning
It is positive that explosive growth trend is presented.
The signal coverage of global positioning system (Global Positioning System, GPS) indoors is poor, reliably
Property is low, and locating effect is unsatisfactory.Indoor wireless location technology has based on infrared ray, ultrasonic wave, bluetooth, ultra wide band, penetrates at present
Frequency identification, WiFi, visible light communication etc., but infrared confirming orientation technology needs to dispose a large amount of transmitters and receiver, complexity height,
Power consumption is big, at high cost, and ultrasonic wave usually requires other wireless communication techniques auxiliary, and hardware spending is larger, the performance of bluetooth equipment
Be not sufficiently stable, power consumption is bigger, and radio frequency discrimination RFID and WiFi are also required to special on-premise network, put into a large amount of construction at
This.Ultra wide band (UltraWide Band, UWB) technology is because having high-speed, high-performance, low intercepting and capturing and detection probability, anti-multipath
And system complexity it is low the features such as, wireless indoor positioning in show one's talent.
Super-broadband tech one of which is achieved in that impulse radio.Impulse radio is a kind of width that launch time is short
Frequency pulse signal, therefore resolving accuracy is high, can reach Centimeter Level, and penetration capacity is strong, is suitable for interior, airport security, military affairs
The positioning of the fields such as training.
Ultra-wideband positioning system is transmitted with ultra-narrow pulse, the bandwidth with GHz magnitude, and need to be with many existing communication systems
It altogether deposits, for example, being coexisted with the IEEE 802.11a WLAN to work in 5Ghz.Therefore, radio ultra wide band system will likely be by
It is interfered in more serious band, influences pulse detection, reduce positioning accuracy.If can filter out from the capable and experienced of existing system
Disturbing will be highly beneficial to promotion ultra wide band positioning accuracy.It and is with ultra-wide for the primary requirement of required interference eliminator
Instant bandwidth, it means that the sample rate of digital-to-analogue conversion require be it is very high, it is digitized realize it is extremely difficult.It reduces and adopts
The requirement of sample rate then needs the receiver using channelization structure.
Time domain channel receiver in existing literature technology can not reduce sample rate, and frequency domain channel receiver nothing
Method realizes the perfect reconstruction of pulse wireless electrical waveform, pulse deformation easily occurs.And waveform is kept as far as possible while eliminating interference
Complete pulse detection subsequent for ultra wide band location receiver it is most important.
Summary of the invention
The case where based on the prior art, the purpose of the present invention is to provide one kind can eliminate broadband or narrowband interference, positioning
Precision is high, the ultra-wideband positioning system for eliminating wide and narrow strip interference of strong interference immunity.
In order to realize above-mentioned technical purpose, the technical solution adopted by the present invention are as follows:
A kind of ultra-wideband positioning system for eliminating wide and narrow strip interference comprising:
UWB positions label, ultra-wide band signal pulses is issued, for returning location data；
UWB locating base station, the ultra-wide band signal pulses issued for receiving UWB positioning label, with ultra-wideband pulse
Radio interference eliminator, the ultra-wideband impulse radio interference eliminator is for eliminating ultra-wideband impulse radio interference
Then the ultra-wide band signal pulses eliminated after interfering are sent to location-server by signal；
Location-server, the ultra-wide band signal pulses after elimination interference for receiving the transmission of UWB locating base station, and derive
Operation generates location information；
Data server, for storing cartographic information；
The map letter of presence server, the location information generated for coordinate interrelation server and data server storage is simultaneously
Generate visualization location information.
Further, the ultra-wideband impulse radio interference eliminator has subband signal division unit and subband signal
Recomposition unit, the ultra-wide band signal pulses that the subband signal division unit is used to receive are divided into M subband signal,
The subband signal recomposition unit is used to recombinate M subband signal of the subband signal division unit output, wherein M is big
In the integer for being equal to 1.
Preferably, ultra-wideband impulse radio signal is divided into son in the following way by the subband signal division unit
Band signal:
First branch:
The ultra-wide band signal pulses of input first pass through the first subband low-pass filter, generate the first subband signal；First son
Band signal is subtracted from original input signal after the first Postponement module, i.e., the first subband signal is eliminated from input signal, raw
Signal 1 is denoted as at signal；
Second branch:
1 second subband part of signal is moved on into fundamental frequency by frequency displacement, then is obtained by the filtering of the second subband low-pass filter
Second subband signal；Second subband signal spectral part is moved back to original position, it is raw then by the second subband band-pass filter
At signal be fed back to the trunk of preprocessor system；On trunk, signal 1 subtracts the second son after the second Postponement module
Band signal, it is therefore an objective to remove the second subband signal, the signal of generation is denoted as signal 2；
Kth branch, k=3,4 ... ..., M-1:
Signal k-1 kth subband part is moved on into fundamental frequency by frequency displacement, then is obtained by the filtering of kth subband low-pass filter
Kth subband signal；Kth subband signal spectral part is moved back to original position, then by kth subband band-pass filter, is generated
Signal be fed back to the trunk of preprocessor system；On trunk, signal k-1 subtracts kth subband after kth Postponement module
Signal, it is therefore an objective to remove kth subband signal, the signal of generation is denoted as signal k；
M branch:
It repeats the above process, until m-th branch, obtains signal M-1, i.e. M subband signal.
Preferably, the subband signal recomposition unit recombinates each subband signal in the following way:
First branch:
1. first subband signal is denoted as signal through the second Postponement module, the signal of formation, continue to synthesize remaining branch's letter
Number；
Second branch:
Second subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then is filtered by the second subband band logical
Wave device filters to obtain corresponding signal, is 1. added with signal, and passes through third Postponement module, 2. the signal of generation is denoted as signal,
Continue to synthesize remaining branch signal；
Kth branch, k=3,4 ... ..., M-2:
Kth subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then passes through kth subband bandpass filtering
Device filters to obtain corresponding signal, with signalIt is added, and passes through+1 Postponement module of kth, the signal of generation is denoted as signalContinue to synthesize remaining branch signal；
M-1 branch:
M-1 subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then passes through M-1 subband band logical
Filter filtering obtains corresponding signal；With signalIt is added, the signal of generation is denoted as signalContinue to synthesize remaining
Branch signal；
M branch:
M subband signal and signalIt is added final synthesized output signal.
Preferably, interference elimination treatment is additionally provided between the subband signal division unit and subband signal recomposition unit
Unit.
Preferably, first to M-1 Postponement module be the delay introduced for compensating low-pass filter and bandpass filter,
To guarantee that signal is added or subtracts each other Shi Tongxiang.
Further, the UWB locating base station is several, wherein UWB positions the ultra-wide band signal pulses that label issues
Processing is received by 3 UWB locating base stations.
Preferably, the location-server carries out generation location information by reaching time-difference TDOA location algorithm,
The specific method is as follows:
(1) W is set as at the time of location-server being received 3 UWB locating base stations issued signal pulse1, W2, W3；3
Time delay is set as τ in UWB locating base station to the line of location-server1, τ2, τ3；Then it can derive that 3 UWB locating base stations receive letter
Feel the pulse T at the time of punching1, T2, T3It is respectively as follows:
T1=W1-τ1；
T2=W2-τ2；
T3=W3-τ3；
(2) UWB is positioned at the time of label sends signal pulse to corresponding 3 UWB locating base stations and is set as T0, then in conjunction with
Each locating base station calculates different arrival time TOA at the time of receiving signal pulse are as follows:
t1=T1-T0；
t2=T2-T0；
t3=T3-T0；
(3) it calculates in conjunction with arrival time TOA of different base station to the TDOA between mutual two base stations are as follows:
T12=t1-t2；
T23=t2-t3；
T13=t1-t3；
(4) it combines 3 UWB locating base stations are corresponding to calculate resulting TDOA coordinate position corresponding with its, hair is calculated
The position for sending the UWB of signal pulse to position label.
Further, the UWB locating base station has location receiver radio-frequency front-end system comprising presses ultra-broadband signal
Bandpass filter, low-noise amplifier, bandpass filter, main amplifier, automatic gain amplification is set in sequence in pulse input direction
Device (AGC), ISI arrester and signal pulse detection module.
Further, UWB positioning label is active label, and it is unique that different UWB positioning labels are each equipped with number
ID number.
The present invention program contains a kind of impulse radio interference eliminator that sample rate requirement can be greatly reduced.UWB is fixed
The received UWB signal in position base station is divided into subband, and the division of subband is that flexibly, the number of subband depends on frequency to be treated
Band number.Each subband signal can be handled individually, and all treated that signal can be recombined before demodulation.?
In the generation of next subband signal, by continuously subtracting each other to previous subband signal, existing UWB band channel is avoided
The problem of signal spectrum is overlapped and is distorted in technology.Impulse radio signal can be realized by the analog signal processing of each subband
Perfect Reconstruction.Only the subband of processing (as interference is eliminated) in need need to just move on to low frequency region and carry out digital-to-analogue conversion, it is clear that adopt
The requirement of sample rate can be greatly reduced.
Existing ultra-wideband impulse radio interference cancellation techniques all assume that ultra-wideband impulse radio signal is counted
Word directly requires superelevation to signal digital-to-analogue conversion sample rate, and the digital filter for also needing length very long is eliminated in strong jamming, and
The optimization of these composite filters is difficult.And it can effectively eliminate what ultra-broadband signal was subject to using interference eliminator of the invention
Narrowband and broadband interference, and sample rate requirement is low.
Using above-mentioned technical solution, compared with prior art, the present invention it has the following beneficial effects:
(1) ultra-wideband positioning system of the invention can eliminate broadband or narrowband interference, and positioning accuracy is high, strong interference immunity；
(2) digital-to-analogue conversion of the interference eliminator in ultra-wideband positioning system of the invention without using conversion rate superelevation
Device overcomes the digital processing of ultra-wideband impulse radio signal or interference processing because of the obstacle of bandwidth superelevation digital-to-analogue conversion difficulty.
The subband signal for only receiving interference needs digital-to-analogue conversion, and frequency displacement is to low frequency region, therefore sampling rate can be greatly reduced；
(3) if interference eliminator defect or mismatch occurs to each branch and has well in ultra-wideband positioning system of the invention
Robustness；
(4) localization method of ultra-wideband positioning system proposed by the present invention is not limited by ultra wide band location algorithm, not office
It is limited to TDOA algorithm, suitable for all radio ultra wide band systems positioned using pulse detection mode.
Detailed description of the invention
The present invention program is further elaborated with reference to the accompanying drawings and detailed description:
Fig. 1 is the brief implementation structural schematic diagram of present system；
Fig. 2 is the schematic system block diagram of the location receiver radio-frequency front-end system of the UWB locating base station of present system；
Fig. 3 is the system architecture diagram of present system；
Fig. 4 is the specific implementation signal of the ultra-wideband impulse radio interference eliminator of present system, wherein LPF (k)
For k-th of subband low-pass filter, BPF (k) is k-th of included bandpass filter, and notch filter can be added in kth branch on demand
Device, k=1,2 ..., M-1, to remove the wide and narrow strip interference for falling into the branch；
Fig. 5 is the ultra-wideband positioning system application implementation case for having interference and eliminating function；Wherein, (a) is ultra wide band mark
The glitch-free ultra-wideband pulse signed and issued out；(b) ultra-wideband pulse to be interfered；(c) for the super of interference elimination function
Broadband locating base station is used using notch filter in branch and is done after two kinds of elimination interference methods of branch where abandoning interference
Static condenser exports corresponding superwide band pulse wave.
Specific embodiment
As shown in Figure 1, one kind of the present invention can eliminate the ultra-wideband positioning system of wide and narrow strip interference comprising:
UWB positions label, ultra-wide band signal pulses is issued, for returning location data, wherein the UWB positions mark
Label can be active label, and different UWB positioning labels are each equipped with the unique ID number of number；
UWB locating base station, the ultra-wide band signal pulses issued for receiving UWB positioning label, with ultra-wideband pulse
Radio interference eliminator, the ultra-wideband impulse radio interference eliminator is for eliminating ultra-wideband impulse radio interference
Then the ultra-wide band signal pulses eliminated after interfering are sent to location-server, as shown in connection with fig. 2, wherein described by signal
UWB locating base station has location receiver radio-frequency front-end system comprising is set in sequence by ultra-wide band signal pulses input direction
Bandpass filter, low-noise amplifier, bandpass filter, main amplifier, automatic gain amplifier (AGC), ISI arrester and letter
It feels the pulse and rushes detection module；
Location-server, the ultra-wide band signal pulses after elimination interference for receiving the transmission of UWB locating base station, and derive
Operation generates location information；
Data server, for storing cartographic information；
The map letter of presence server, the location information generated for coordinate interrelation server and data server storage is simultaneously
Generate visualization location information.
As one of embodiment, further, the ultra-wideband impulse radio interference eliminator is believed with subband
Number division unit and subband signal recomposition unit, the subband signal division unit are used for the ultra-broadband signal arteries and veins that will be received
Impact driven pile is divided into M subband signal, and the subband signal recomposition unit is used to recombinate M of the subband signal division unit output
Subband signal, wherein M is the integer more than or equal to 1.
As shown in connection with fig. 3, it is preferred that the subband signal division unit is in the following way by ultra-wideband impulse radio
Signal is divided into subband signal:
First branch:
The ultra-wide band signal pulses of input first pass through the first subband low-pass filter, generate the first subband signal；First son
Band signal is subtracted from original input signal after the first Postponement module, i.e., the first subband signal is eliminated from input signal, raw
Signal 1 is denoted as at signal；
Second branch:
1 second subband part of signal is moved on into fundamental frequency by frequency displacement, then is obtained by the filtering of the second subband low-pass filter
Second subband signal；Second subband signal spectral part is moved back to original position, it is raw then by the second subband band-pass filter
At signal be fed back to the trunk of preprocessor system；On trunk, signal 1 subtracts the second son after the second Postponement module
Band signal, it is therefore an objective to remove the second subband signal, the signal of generation is denoted as signal 2；
Kth branch, k=3,4 ... ..., M-1:
Signal k-1 kth subband part is moved on into fundamental frequency by frequency displacement, then is obtained by the filtering of kth subband low-pass filter
Kth subband signal；Kth subband signal spectral part is moved back to original position, then by kth subband band-pass filter, is generated
Signal be fed back to the trunk of preprocessor system；On trunk, signal k-1 subtracts kth subband after kth Postponement module
Signal, it is therefore an objective to remove kth subband signal, the signal of generation is denoted as signal k；
M branch:
It repeats the above process, until m-th branch, obtains signal M-1, i.e. M subband signal.
Preferably, the subband signal recomposition unit recombinates each subband signal in the following way:
First branch:
1. first subband signal is denoted as signal through the second Postponement module, the signal of formation, continue to synthesize remaining branch's letter
Number；
Second branch:
Second subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then is filtered by the second subband band logical
Wave device filters to obtain corresponding signal, is 1. added with signal, and passes through third Postponement module, 2. the signal of generation is denoted as signal,
Continue to synthesize remaining branch signal；
Kth branch, k=3,4 ... ..., M-2:
Kth subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then passes through kth subband bandpass filtering
Device filters to obtain corresponding signal, with signalIt is added, and passes through+1 Postponement module of kth, the signal of generation is denoted as signalContinue to synthesize remaining branch signal；
M-1 branch:
M-1 subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then passes through M-1 subband band logical
Filter filtering obtains corresponding signal；With signalIt is added, the signal of generation is denoted as signalContinue to synthesize remaining
Branch signal；
M branch:
M subband signal and signalIt is added final synthesized output signal.
Preferably, interference elimination treatment is additionally provided between the subband signal division unit and subband signal recomposition unit
Unit.
Preferably, first to M-1 Postponement module be the delay introduced for compensating low-pass filter and bandpass filter,
To guarantee that signal is added or subtracts each other Shi Tongxiang.
Further, the UWB locating base station is several, wherein UWB positions the ultra-wide band signal pulses that label issues
Processing is received by 3 UWB locating base stations；Preferably, the location-server passes through reaching time-difference TDOA location algorithm
Generation location information is carried out, the specific method is as follows:
(1) W is set as at the time of location-server being received 3 UWB locating base stations issued signal pulse1, W2, W3；3
Time delay is set as τ in UWB locating base station to the line of location-server1, τ2, τ3；Then it can derive that 3 UWB locating base stations receive letter
Feel the pulse T at the time of punching1, T2, T3It is respectively as follows:
T1=W1-τ1；
T2=W2-τ2；
T3=W3-τ3；
(2) UWB is positioned at the time of label sends signal pulse to corresponding 3 UWB locating base stations and is set as T0, then in conjunction with
Each locating base station calculates different arrival time TOA at the time of receiving signal pulse are as follows:
t1=T1-T0；
t2=T2-T0；
t3=T3-T0；
(3) it calculates in conjunction with arrival time TOA of different base station to the TDOA between mutual two base stations are as follows:
T12=t1-t2；
T23=t2-t3；
T13=t1-t3；
(4) it combines 3 UWB locating base stations are corresponding to calculate resulting TDOA coordinate position corresponding with its, hair is calculated
The position for sending the UWB of signal pulse to position label.
As the specific implementation of the present invention program, as shown in connection with fig. 4, the received ultra-wideband impulse radio of locating base station institute
The entire frequency spectrum of signal is divided into M subband, and interference eliminator includes M branch, and each branch extracts a subband signal.
If f1,f2,...,fM-1For the part-frequency point of subband.That is, frequency spectrum is divided into M subband signal by us, their bandwidth is
f1-fL,f2-f1,...,fM-1-fM-2,fH-fM-1, wherein fLAnd fHThe respectively minimum and highest frequency of ultra-broadband signal frequency spectrum.
There is no limit the division of subband can be according to different application scenarios for the bandwidth of each subband.If f1′,f2′,...,f′M-2It is mixed
Sum of fundamental frequencies rate, for extracting the 2nd, the 3rd and the M-1 subband signal.M-th subband is not extracted because it be one not
Residue frequency band to be treated.Note that in general, fk' < fk, k=1 ..., M-2.As will be explained later, in fk′
And fkBetween to have differences be reserved frequency band, to use the filter of nonideal no sharp cutoff characteristic, this filter
Being only can actually realize.
Interference eliminator constructive method is as follows:
1, subband signal is divided:
Input signal is divided into subband signal by interference eliminator by the following method:
First branch:
Ultra-broadband signal r (t) first passes through the first subband low-pass filter LPF1, and passband is [0, f1], obtained from
First subband signal r1(t).Signal r (t) is delayed by d1It is subtracted after secondWhereinTo generateThis phase
The purpose subtracted is removal signal r (t) [0, f1] frequency-portions.Postpone d1It is the delay for making up filter LPF1 introducing,
So that r (t) andSubtract each other same phase.
Second branch:
SignalBy with 2cos (2 π f1') be multiplied and carry out frequency displacement, wherein f1' < f1, to makeFrequency spectrum [f1,
f2] part be moved to base band [f1-f1′,f2-f1'], then passing through a passband is [0, f2-f1'] the second subband low-pass filtering
Device LPF2 filtering obtains the signal r of second subband2(t).Signal r2(t) multiplied by 2cos (2 π f1') so that its frequency spectrum [f1-f1′,
f2-f1'] partially it is moved back to [f1,f2], it is then [f by a passband1,f2] the second subband bandpass filter BPF2 filter
Wave generatesSignalIt is fed back to the trunk of interference eliminator.On trunk,It is delayed by d2It is subtracted after second
It obtainsThe purpose subtracted each other is removalIn [f1,f2] frequency content.Postpone d2It is for making up low-pass filter LPF2
With the sum of the delay of bandpass filter BPF2 introducing.
Other branches:
The above operating process repeats to always (M-1) a branch and obtainsSignal, this is also m-th subband letter
Number
2, subband signal recombinates
The method that interference eliminator recombinates each subband signal is as follows:
First subband signal is represented asFor k=2,3 ..., M-1, k-th of subband signal rk(t) multiplied by
2cos(2πf′k-1T) so that frequency spectrum [fk-1-f′k-1,fk-f′k-1] partially it is moved back to [fk-1,fk].Resulting signal passes through
One passband is [fk-1,fk] k-th of subband bandpass filter BPFk filter to obtainSignalFirst postpone d2Second, so
After be added toGenerated signal is delayed by d3Second, it is then added toThis process, which is continued until, to be added toThen, the above signal generated is addedObtain final output signal
3, the setting of interference eliminator delay
Delay d in interference eliminatork(k=1,2 ..., M-1) specifically it is provided that
If k=1, Yao Shixian r1(t) with subtracting each other, signal r (t) is subjected to equal with the group delay of filter LPF1
Delay d1；
For k=2,3 ..., M-1, for rk(t) same phase subtracts each other requirement signalIt is subjected to a delay
dk, dkIt is equal with the sum of low-pass filter LPFk, bandpass filter BPFk group delay.
Filter needs that there is linear phase characteristic to subtract each other so as to the same phase of signal.Filter can use built-in linear phase
Surface acoustic wave (SAW) filter of position characteristic, amplitude and phase response can be with independent controls.Therefore,
4, interference eliminator carries out interference and eliminates embodiment
The interference eliminator can be applied to interference and eliminate.Subband signal rk(t), k=1,2 ..., M-1 can pass through trap
Filter or bandpass filter processing are to eliminate interference.Obvious and not all subband signal all includes interference, therefore to noiseless
Subband signal there is no need to be filtered.Only those need the subband for interfering processing that digital-to-analogue is needed to convert, therefore sample rate
Requirement can be greatly reduced.Fig. 4 illustrates the case where notch filter is added on demand in k-th of branch of interference eliminator, k
=1,2 ..., M-1.With reference to the example above, it is assumed that the narrowband interference damage that UWB pulse is modulated by a BPSK, which can
It is expressed as
Wherein noise amplitudes A=1.1, carrier frequency fi=5.5GHz and carrier phaseInterfere data d (t) in narrowband
∈ {+1, -1 } etc. is generally distributed.Then effective jamming bandwidth B ≈ 10MHz.It is above-mentioned for the flexibility of display interference arrester design
Interference eliminator is changed to only there are three branch (M=3) and parameter is provided by Table I.
Table I
With following transmission function:
Second order IIR notch filter be added to the second point of interference eliminator
Branch, wherein α and β is to control the coefficient of pole and dead-center position, and a is control notch filter notch location in frequency spectrum respectively
Parameter.The center of simulation parameter β=1.0, α=0.98, trap are placed on fi-f5'=5.5-4.9=0.6GHz.Due to trap
The average group delay very little of filter, so delay remains unchanged.
Fig. 5 (a) and Fig. 5 (b) respectively shows former UWB pulse signal and the UWB signal by narrowband interference damage.Due to dry
The Amplitude Ration UWB signal pulse amplitude disturbed is much bigger, and UWB signal pulse is submerged, and the sinusoidal waveform of narrowband interference is only micro-
Small variation.Signal-to-noise ratio (SIR) is -38.3dB.It is disturbed the UWB pulse of damage and the similitude of correlate template pulse p (t)
Very little (cross-correlation coefficient ρsi=0.012).In this way, ultra-wideband impulse signal is difficult correctly to be examined by subsequent pulse detection module
It surveys, thus corresponding location algorithm, such as TDOA, it can not also calculate the correct position of ultra wide band UWB positioning label.
After the receiver that there is interference to eliminate function, since interference is greatly inhibited, UWB pulse becomes clear again
It is clear, as shown in Fig. 5 (c), cross-correlation coefficient ρc1=0.98 (influence of the notch filter to ultra-broadband signal itself is in relevant mode
Plate considers).Subsequent pulse detection module can accurately detect the ultra-wideband impulse signal, pass through corresponding location algorithm
It is accurately positioned out the position of UWB label.
The interference eliminator also can be applied to broadband interference elimination.Branch comprising broadband interference can be dropped, and be not necessarily to
Use notch filter.For example, the interference for WLAN WLAN signal (covering 5.15GHz-5.825GHz), entire the
Two branch signalsIt is dropped.Clearly demonstrate that broadband interference is suppressed in Fig. 5 (c).Signal-to-noise ratio SIR is improved to
17.4dB.Although being generated compared with the case where previously using notch filter by being lost more signal spectrum components
UWB pulse beside have higher ripple, branch signal abandons the mould that can also be merged into correlator in advance to the influence of waveform
In partitioned signal waveform.In this way, interfering the cross-correlation coefficient between the signal pulse and template signal after eliminating is ρc2=0.99, after
Continuous pulse detection module can accurately detect the ultra-wideband impulse signal, pass through corresponding location algorithm, such as TDOA, Ji Kejing
Really orient the position of UWB label.
The above are preferred embodiments of the present invention, all any changes made according to the technical solution of the present invention, and generated function is made
When with range without departing from technical solution of the present invention, all belong to the scope of protection of the present invention.
Claims (10)
1. the ultra-wideband positioning system that one kind can eliminate wide and narrow strip interference, it is characterised in that: comprising:
UWB positions label, ultra-wide band signal pulses is issued, for returning location data；
UWB locating base station, the ultra-wide band signal pulses issued for receiving UWB positioning label are wireless with ultra-wideband pulse
Electrical interference arrester, the ultra-wideband impulse radio interference eliminator is for eliminating ultra-wideband impulse radio interference letter
Number, the ultra-wide band signal pulses eliminated after interfering then are sent to location-server；
Location-server, the ultra-wide band signal pulses after elimination interference for receiving the transmission of UWB locating base station, and derivation operation
Generate location information；
Data server, for storing cartographic information；
Presence server, the map that the location information for the generation of coordinate interrelation server is stored with data server are believed and are generated
Visualize location information.
2. the ultra-wideband positioning system that one kind according to claim 1 can eliminate wide and narrow strip interference, it is characterised in that: described
Ultra-wideband impulse radio interference eliminator have subband signal division unit and subband signal recomposition unit, the subband
Signal division unit is used to for the ultra-wide band signal pulses received being divided into M subband signal, and the subband signal recombination is single
Member is for recombinating M subband signal of the subband signal division unit output, wherein M is the integer more than or equal to 1.
3. the ultra-wideband positioning system that one kind according to claim 2 can eliminate wide and narrow strip interference, it is characterised in that: described
Ultra-wideband impulse radio signal is divided into subband signal in the following way by subband signal division unit:
First branch:
The ultra-wide band signal pulses of input first pass through the first subband low-pass filter, generate the first subband signal；First subband letter
It number is subtracted from original input signal after the first Postponement module, i.e., eliminates the first subband signal from input signal, generate letter
Number it is denoted as signal 1；
Second branch:
1 second subband part of signal is moved on into fundamental frequency by frequency displacement, then obtains second by the filtering of the second subband low-pass filter
Subband signal；Second subband signal spectral part is moved back to original position, then passes through the second subband band-pass filter, generation
Signal is fed back to the trunk of preprocessor system；On trunk, signal 1 subtracts the second subband letter after the second Postponement module
Number, it is therefore an objective to the second subband signal is removed, the signal of generation is denoted as signal 2；
Kth branch, k=3,4 ... ..., M-1:
Signal k-1 kth subband part is moved on into fundamental frequency by frequency displacement, then kth is obtained by the filtering of kth subband low-pass filter
Band signal；Kth subband signal spectral part is moved back to original position, then passes through kth subband band-pass filter, the signal of generation
It is fed back to the trunk of preprocessor system；On trunk, signal k-1 subtracts kth subband signal after kth Postponement module,
Purpose is removal kth subband signal, and the signal of generation is denoted as signal k；
M branch:
It repeats the above process, until m-th branch, obtains signal M-1, i.e. M subband signal.
4. the ultra-wideband positioning system that one kind according to claim 3 can eliminate wide and narrow strip interference, it is characterised in that: described
Subband signal recomposition unit recombinates each subband signal in the following way:
First branch:
1. first subband signal is denoted as signal through the second Postponement module, the signal of formation, continue to synthesize remaining branch signal；
Second branch:
Second subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then passes through the second subband bandpass filter
Filtering obtains corresponding signal, is 1. added with signal, and passes through third Postponement module, 2. the signal of generation is denoted as signal, continues
Synthesize remaining branch signal；
Kth branch, k=3,4 ... ..., M-2:
Kth subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then is filtered by kth subband bandpass filter
Wave obtains corresponding signal, with signalIt is added, and passes through+1 Postponement module of kth, the signal of generation is denoted as signal, after
The continuous remaining branch signal of synthesis；
M-1 branch:
M-1 subband signal makes subband spectrum part be moved back to original position by fundamental frequency by frequency displacement, then passes through M-1 subband bandpass filtering
Device filters to obtain corresponding signal；With signalIt is added, the signal of generation is denoted as signalContinue to synthesize remaining branch
Signal；
M branch:
M subband signal and signalIt is added final synthesized output signal.
5. the ultra-wideband positioning system that one kind according to claim 2 can eliminate wide and narrow strip interference, it is characterised in that: described
Subband signal division unit and subband signal recomposition unit between be additionally provided with interference elimination treatment unit.
6. the ultra-wideband positioning system that one kind according to claim 3 can eliminate wide and narrow strip interference, it is characterised in that: first
It is the delay introduced for compensating low-pass filter and bandpass filter to M-1 Postponement module, to guarantee signal addition or phase
Subtract Shi Tongxiang.
7. the ultra-wideband positioning system that one kind according to claim 1 or 2 can eliminate wide and narrow strip interference, it is characterised in that:
The UWB locating base station is several, wherein UWB positions the ultra-wide band signal pulses that label issues and positions base by 3 UWB
Institute's reception of standing processing.
8. the ultra-wideband positioning system that one kind according to claim 7 can eliminate wide and narrow strip interference, it is characterised in that: described
Location-server generation location information is carried out by reaching time-difference TDOA location algorithm, the specific method is as follows:
(1) W is set as at the time of location-server being received 3 UWB locating base stations issued signal pulse1, W2, W3；3 UWB are fixed
Time delay is set as τ on the base station to the line of location-server of position1, τ2, τ3；Then it can derive that 3 UWB locating base stations receive signal arteries and veins
T at the time of punching1, T2, T3It is respectively as follows:
T1=W1-τ1；
T2=W2-τ2；
T3=W3-τ3；
(2) UWB is positioned at the time of label sends signal pulse to corresponding 3 UWB locating base stations and is set as T0, then in conjunction with each
Locating base station calculates different arrival time TOA at the time of receiving signal pulse are as follows: t1=T1-T0；
t2=T2-T0；
t3=T3-T0；
(3) it calculates in conjunction with arrival time TOA of different base station to the TDOA between mutual two base stations are as follows:
T12=t1-t2；
T23=t2-t3；
T13=t1-t3；
(4) it combines 3 UWB locating base stations are corresponding to calculate resulting TDOA coordinate position corresponding with its, transmission letter is calculated
Feel the pulse punching UWB positioning label position.
9. the ultra-wideband positioning system that one kind according to claim 1 or 2 can eliminate wide and narrow strip interference, it is characterised in that:
The UWB locating base station have location receiver radio-frequency front-end system comprising by ultra-wide band signal pulses input direction according to
Sequence be arranged bandpass filter, low-noise amplifier, bandpass filter, main amplifier, automatic gain amplifier, ISI arrester and
Signal pulse detection module.
10. the ultra-wideband positioning system that one kind according to claim 1 or 2 can eliminate wide and narrow strip interference, it is characterised in that:
The UWB positioning label is active label, and different UWB positioning labels are each equipped with the unique ID number of number.
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