CN109597029A - A kind of ultra-wideband positioning system for eliminating intersymbol interference under multipath noise channel - Google Patents
A kind of ultra-wideband positioning system for eliminating intersymbol interference under multipath noise channel Download PDFInfo
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- CN109597029A CN109597029A CN201811646408.0A CN201811646408A CN109597029A CN 109597029 A CN109597029 A CN 109597029A CN 201811646408 A CN201811646408 A CN 201811646408A CN 109597029 A CN109597029 A CN 109597029A
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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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- 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 intersymbol interference under multipath noise channel, 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, for eliminating ultra-wideband impulse radio multipath intersymbol interference, then sends it to location-server；Location-server sends location information for receiving UWB locating base station, then makes decisions, and generate location information；Data server, for storing cartographic information；Presence server, the map of location information and the data server storage generated for coordinate interrelation server is believed and generates visualization location information, the present invention program overcomes ultra-broadband signal because of the obstacle of bandwidth superelevation digital-to-analogue conversion difficulty, it can realize that ISI is eliminated under multipath noise channel, promotes positioning accuracy；In addition, designed ISI interference cancellation algorithm is not limited by receiver module and location algorithm etc., it is easy to promote and utilize.
Description
Technical field
The invention belongs to super wideband wireless positioning system field, especially one kind can eliminate intersymbol under multipath noise channel
The ultra-wideband positioning system of interference.
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 (Ultra Wide Band, UWB) technology resists more because having high-speed, high-performance, low intercepting and capturing and detection probability
The features such as diameter and low system complexity, shows one's talent in wireless indoor positioning.
Impulse radio is one of main implementation of super-broadband tech.Impulse radio utilizes the extremely short arteries and veins of subnanosecond grade
Punching, the no-load communication techniques with GHz magnitude bandwidth.Therefore, UWB wireless channel is high-frequency selectivity.Believe receiving
There are a large amount of analysable multi-path components in number.Delay more than 30 seconds is fairly common.UWB technology is applied to radio individual
Local Area Network (WPANS), data rate is more than 110Mbps, even if not encoding or extending, corresponding symbol period again smaller than
10 nanoseconds.Therefore, the intersymbol interference (intersymbol interference, abbreviation ISI) of super-broadband tech is inevitable.
Ultra wideband location techniques can be divided into four kinds: based on direction of arrival degree method (Angle of Arrival, AOA), based on reception
Signal strength method (Received Signal Strength, RSS), based on time of arrival (toa) method (Time Of Arrival,
TOA), it is based on signal arrival time difference method (Time Difference Of Arrival, TDOA) [2].Wherein, TOA/TDOA method
The good temporal resolution characteristic of UWB signal is utilized, can satisfy pinpoint demand.The multipath effect of signal is to influence
The principal element of UWB positioning accuracy.Multipath effect will affect the detection of ultra-broadband signal direct path (Direct Path, DP),
To cause TOA evaluated error, identify and eliminate the ISI interference that multipath is introduced be improve ultra wide band positioning accuracy difficult point it
One.
The conventional method for tackling ISI is using digital equalizer.However, ultra-wideband impulse radio signal bandwidth ultra-wide,
Analog-to-digital conversion needs the sampling rate of superelevation, realizes that difficult and cost is high；Secondly as duty ratio and pole that UWB pulse is ultralow
Short pulse width needs fairly large number of balanced device node and balancing speed superelevation at the high velocities.These are all caused
The serious hindrance that ultra-wideband impulse radio intersymbol interference ISI is eliminated.
Summary of the invention
It is an object of the invention to propose it is a kind of based on wavelet transformation to eliminate under multipath noise channel intersymbol dry
The ultra-wideband positioning system disturbed.The present invention program is not necessarily to analog-to-digital conversion without obtaining channel information or channel estimation in advance.Institute's phase
The signal pulse and disturbing pulse of prestige can be carried out distinguishing by this method and accurately determine position.The receiver pulse of locating base station
Traditional reception pulse is not used when detection, but uses the signal peaks generated after wavelet transformation and high-pass filtering.
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 intersymbol interference under multipath noise channel 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 ISI arrester,
The ISI arrester connects the UWB locating base station for eliminating ultra-wideband impulse radio multipath intersymbol interference
The ultra-wide band signal pulses of receipts carry out wavelet transformation, then, carry out high-pass filtering to the ultra-wide band signal pulses after wavelet transformation,
To obtain spike signal, then, the k-th maximum value of the spike signal is searched for, and determine its time-domain position, at the beginning of k
Initial value takes 1, and then, the signal peaks of the signal containing spike of the time-domain position are extracted, then sends it to positioning clothes
Business device；
Location-server, the signal peaks of the signal containing spike for receiving the transmission of UWB locating base station, and by the letter
Number spike is related to the progress of template signal, if correlation is greater than predetermined threshold value, which is desired signal point
Peak, then make conclusive judgement, otherwise abandons the signal peaks, and judges whether k is less than this preset numerical value of N, if k is less than
Preset secondary numerical value of N then enables k=k+1, and extracts signal peaks again by the ISI arrester of UWB locating base station, directly
The correlation of signal peaks and template signal to extraction is greater than predetermined threshold value, then makes decisions, and generate positioning
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 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.
Preferably, to the UWB locating base station received ultra-wide band signal pulses carry out the concrete mode of wavelet transformation
It is as follows:
The case where considering ISI, that is, the ultra-wide band signal pulses received are interfered pulse and the influence of noise, receive
The ultra-wide band signal pulses being disturbed can indicate are as follows:
R (t)=s (t)+i (t)+n (t)
Wherein, s (t) is signal pulse, and i (t) is disturbing pulse, and n (t) is white Gaussian noise；
It is obtained by wavelet transformation
Wr(u)=Ws(u)+Wi(u)+Wn(u)
Wherein:
Ws(u)=dscsW (u)=Ωs(u)+Δs(u)
Δs(u)=dscsΔ(u)
Ωs(u)=dscsΩ(u)；
Wi(u)=Ωi(u)+Δi(u)
Ωi(u)=diciΩ(u-t0)
Δi(u)=diciΔ(u-t0)；
Δ (u)=g (tc+u)+g(tc-u)
Wherein, useful signal data ds∈{+1,-1}；csIndicate the amplitude of signal pulse s (t)；Interfere data di∈{+
1, -1 }, ciIndicate the amplitude of disturbing pulse i (t), t0It is the interval time of s (t) He i (t)；Scale factor is a and a < < 1.
Preferably, the spike signal includes two signal peaks and two interference spikes.
Preferably, the Amplitude Ration of the signal peaks and interference spike is equal to the Amplitude Ration of signal pulse and disturbing pulse,
That is:
Wherein, csIndicate the amplitude of signal pulse, ciIndicate the amplitude of disturbing pulse.
Preferably, the time delay between signal peaks and interference spike is equal to prolonging between signal pulse and disturbing pulse
The slow time.
Further, the UWB locating base station also has signal search module and signal window module；The signal is searched
Rope module is used to search for the reception signal higher than predetermined threshold value, and determines its time-domain position；The signal window module is adopted
The ultra-wide band signal pulses of the signal search block search are completely intercepted with signal window, and the signal window size is transmitting
The signal peaks of the signal containing spike are extracted in the time-domain position by signal window and are adopted by twice of signal width
Signal window size is not less than the width of signal peaks.
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, 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.
Using above-mentioned technical solution, the present invention compared with prior art, is had the beneficial effect that
(1) the present invention program overcomes ultra-broadband signal because of bandwidth without using the digital analog converter of conversion rate superelevation
The obstacle of superelevation digital-to-analogue conversion difficulty can realize that ISI is eliminated under multipath noise channel, promotes positioning accuracy；
(2) the present invention program is not necessarily to collect channel information or carries out complicated channel estimation, without carrying out complexity and speed
The equalization operation of rate superelevation；
(3) the ISI arrester of the present invention program can fight the interference of any number of mixing multipath signals；
(4) the present invention program intersymbol interference elimination algorithm is not necessarily to decision-feedback, avoids the propagation of error；
(5) ISI interference cancellation algorithm designed by the present invention program is not limited by receiver module and location algorithm etc., just
In popularization and application.
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 diagram of present system；
Fig. 2 is the simulation of the ultra-wideband impulse signal wireless channel transmission indoors of present system embodiment, wherein hair
The repetition period for the number of delivering letters is 10ns；
Fig. 3 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. 4 is the waveform of each correlation function after wavelet transformation of the present invention and high-pass filtering: Fig. 4 (a) is f (u) waveform, Fig. 4
It (b) is Ω (u), Fig. 4 (c) is g (u) waveform, and Fig. 4 (d) is Δ (u) waveform, and Fig. 4 (e) is W (u), and Fig. 4 (f) isWaveform,
Parameter value a=0.008 and tc=2.5；
Fig. 5 is the system framework figure of intersymbol interference ISI cancellation scheme under ultra-wideband impulse radio multipath noise channel；
Fig. 6 is the embodiment that intersymbol interference is eliminated under multipath noise channel of the present invention, wherein Fig. 6 (a) is to connect
What is received has the composite pulse r (t) of intersymbol interference and noise, (SNIR=1.82dB of r (t))；Fig. 6 (b) is to work as a=
0.008 and tcWavelet transformation waveform W when=2.5r(u)；Fig. 6 (c) is spikeWaveform；Fig. 6 (d) is detected
Signal peaks λ2(u), time domain center is us；Fig. 6 (e) is false-alarm (noise) λ1(u)；Fig. 6 (f) is correlation receiver mould
Partitioned signal q (u-us)。
Specific embodiment
As shown in Figure 1, one kind of the present invention can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
Include:
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 ISI arrester,
The ISI arrester connects the UWB locating base station for eliminating ultra-wideband impulse radio multipath intersymbol interference
The ultra-wide band signal pulses of receipts carry out wavelet transformation, then, carry out high-pass filtering to the ultra-wide band signal pulses after wavelet transformation,
To obtain spike signal, then, the k-th maximum value of the spike signal is searched for, and determine its time-domain position, at the beginning of k
Initial value takes 1, and then, the signal peaks of the signal containing spike of the time-domain position are extracted, then sends it to positioning clothes
Business device；
Location-server, the signal peaks of the signal containing spike for receiving the transmission of UWB locating base station, and by the letter
Number spike is related to the progress of template signal, if correlation is greater than predetermined threshold value, which is desired signal point
Peak, then make conclusive judgement, otherwise abandons the signal peaks, and judges whether k is less than this preset numerical value of N, if k is less than
Preset secondary numerical value of N then enables k=k+1, and extracts signal peaks again by the ISI arrester of UWB locating base station, directly
The correlation of signal peaks and template signal to extraction is greater than predetermined threshold value, then makes decisions, and generate positioning
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 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.
Preferably, to the UWB locating base station received ultra-wide band signal pulses carry out the concrete mode of wavelet transformation
It is as follows:
The case where considering ISI, that is, the ultra-wide band signal pulses received are interfered pulse and the influence of noise, receive
The ultra-wide band signal pulses being disturbed can indicate are as follows:
R (t)=s (t)+i (t)+n (t)
Wherein, s (t) is signal pulse, and i (t) is disturbing pulse, and n (t) is white Gaussian noise；
It is obtained by wavelet transformation
Wr(u)=Ws(u)+Wi(u)+Wn(u)
Wherein:
Ws(u)=dscsW (u)=Ωs(u)+Δs(u)
Δs(u)=dscsΔ(u)
Ωs(u)=dscsΩ(u)；
Wi(u)=Ωi(u)+Δi(u)
Ωi(u)=diciΩ(u-t0)
Δi(u)=diciΔ(u-t0)；
Δ (u)=g (tc+u)+g(tc-u)
Wherein, useful signal data ds∈{+1,-1}；csIndicate the amplitude of signal pulse s (t)；Interfere data di∈{+
1, -1 }, ciIndicate the amplitude of disturbing pulse i (t), t0It is the interval time of s (t) He i (t)；Scale factor is a and a < < 1.
In conjunction with Fig. 2, it is preferred that the spike signal includes two signal peaks and two interference spikes.
Preferably, the Amplitude Ration of the signal peaks and interference spike is equal to the Amplitude Ration of signal pulse and disturbing pulse,
That is:
Wherein, csIndicate the amplitude of signal pulse, ciIndicate the amplitude of disturbing pulse.
Preferably, the time delay between signal peaks and interference spike is equal to prolonging between signal pulse and disturbing pulse
The slow time.
Further, the UWB locating base station also has signal search module and signal window module；The signal is searched
Rope module is used to search for the reception signal higher than predetermined threshold value, and determines its time-domain position；The signal window module is adopted
The ultra-wide band signal pulses of the signal search block search are completely intercepted with signal window, and the signal window size is transmitting
The signal peaks of the signal containing spike are extracted in the time-domain position by signal window and are adopted by twice of signal width
Signal window size is not less than the width of signal peaks.
In conjunction with Fig. 3, further, the UWB locating base station has location receiver radio-frequency front-end system comprising by super
Bandpass filter, low-noise amplifier, bandpass filter, main amplifier, automatic is set in sequence in wideband signal pulses input direction
Gain amplifier, 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 following are the general thought processes of the specific implementation of the present invention program:
The present invention is by being eliminated under multipath noise channel between ultra-wideband impulse radio signal code based on wavelet transformation
Interference promotes super wideband wireless positioning accuracy, dry by the way that ultra-wideband impulse radio multipath intersymbol is added in locating base station
(ISI) arrester is disturbed, that is, uses the locating base station for eliminating function with ISI under multipath noise channel.Improved general location system
Block diagram is as shown in Figure 1.Original ultra wide band locating base station is replaced with to the positioning base that function is eliminated with ISI under multipath noise channel
It stands, promotes positioning accuracy.
By using transmitting signal model, channel model, ISI model etc., then provides and receive under signal wavelet transformation
Property derives that spike, which can be used, replaces former reception pulse to carry out succeeding impulse detection and positioning.
The specific method is as follows for it:
(1) system model
1, ultra-wideband impulse model
UWB pulse uses Gaussian monopulse model:
Wherein A is constant collection, meets FCC (US Federal Communication Committee Federal Communications
Commission) to the requirement of ultra-broadband signal, select centre frequency for fc=6.85GHz.
2, UWB wireless channel model
The present invention uses the UWB wireless multi-path channels model of IEEE802.15.4a, and white Gaussian noise is added, while false
It is fixed to there is direct-view path (Line of Sight, abbreviation LOS).The UWB pulse emulation transmitted on this channel is as shown in Figure 2.
The propagation pulse repetition period is 10ns.Due to the ultra wide bandwidth of UWB pulse, have in receivers for the pulse of each transmission
A large amount of multi-path component.As can be seen that being resulted in intersymbol dry due to relatively large delay transit (being greater than 10 ns)
It disturbs.Received pulse is interfered by the multi-path component of the pulse of precedent transmission.The signal window in the upper right corner Fig. 2 is more clearly shown
This point is shown.
3, UWB impulse model is normalized
Succinct to analyze, the normalization of UWB impulse model is as follows: enabling
And it defines
P (t) is the first derivative of Gaussian pulse, and the UWB pulse duration of actual transmissions is limited.Therefore, it adopts here
It is the Gaussian pulse first derivative of time-domain finite with normalized UWB impulse model
Starting point and terminal are located at t=-tcAnd t=tc.Emitting signal width is 2tc。
4, intersymbol interference ISI model
For the ease of illustrating, and without loss of generality, ISI model considers as follows.UWB pulse is modulated through BPSK, receives termination
The UWB signal pulse received is
S (t)=dscsp(t)
Wherein useful signal data ds∈ {+1, -1 }, csIndicate the amplitude of signal pulse (straight length) s (t).It is another
One pulse i (t) interference, this is other multipath components of UWB pulse, i.e.,
I (t)=dicip(t-t0)
Wherein interfere data di∈ {+1, -1 }, ciIndicate the amplitude of disturbing pulse i (t), t0It is the interval of s (t) He i (t)
Time.This model can be easy to expand to multiple disturbing pulses.
According to mean power attenuation curve, the mean power of pulse multiplex diameter component is especially deposited with delay decaying rapidly
In the environment of straight length.Therefore, in the multipath channel ISI model there are straight length, the amplitude of disturbing pulse is less than
The amplitude of signal pulse, i.e. ci< cs。
(2) theory analysis
Intersymbol interference ISI cancellation scheme proposed by the present invention be based on wavelet transformation, have studied ultra-wideband pulse without
The characteristic of line electric signal (the limited first derivative of Gaussian pulse) wavelet transformation.By using Gaussian function first derivative (also referred to as
For single order Gauss wavelet) it is used as morther wavelet, the wavelet transformation of ultra-wideband impulse radio signal p (t) is in time u (scale factor
It is for a and a < < 1)
It is derived by correlation available
W (u)=Ω (u)+Δ (u)
Wherein:
Δ (u)=g (tc+u)+g(tc-u)
Wherein f (u) and Ω (u) waveform are detailed in Fig. 4 (a) and (b) shown.Function g (u) main gene isBecause of a < < 1, g
(u) the Gaussian pulse spike and center substantially compressed is located at u=0, is detailed in Fig. 4 (c).Due to Δ (u)=g (tc+u)+g(tc-
U), therefore its waveform is beginning and end that two spikes concentrate on original signal pulse, i.e. u=-tcAnd u=tc, such as Fig. 4 (d)
It is shown.W (u) waveform is detailed in Fig. 4 (e).High-pass filter can be used and extract signal peaks from W (u).The result of high-pass filteringIt is detailed in Fig. 4 (f).One timing of fire pulse width, the width of the controllable signal peaks of the selection of wavelet transform dimension factor a
With amplitude height.Value a=0.008 and t in the present inventionc=2.5.
1, without the wavelet transformation property analysis for receiving signal in the case of ISI
Ultra-wide band signal pulses s (t)=d is considered firstscsP (t) and without ISI situation, the wavelet transformation of s (t) is
Ws(u)=dscsW (u)=Ωs(u)+Δs(u)
Wherein
Δs(u)=dscsΔ(u) (2)
And
Ωs(u)=dscsΩ(u).
According to the analysis signal peaks Δ of fronts(u) it is the Gaussian pulse of two change of scale, can be pushed away by formula (2)
Following characteristic out:
Characteristic 1: the symbol of signal peaks and the symbol of signal pulse are consistent；
Characteristic 2: the amplitude of signal peaks and the amplitude of signal pulse are directly proportional；
Therefore signal peaks, which can be used, replaces the signal received to be detected and positioned.Due toIt is g (u)
Main gene enables
The as template signal of correlation receiver.
2, there is the wavelet transformation analysis that signal is received under ISI and noise situations
The case where considering ISI, that is, the UWB signal pulse received are interfered pulse and the influence of noise.Institute is received
Composite pulse can be expressed as
R (t)=s (t)+i (t)+n (t)
Wherein n (t) is white Gaussian noise.The wavelet transformation of r (t) is
Wr(u)=Ws(u)+Wi(u)+Wn(u)
Wherein:
Wi(u)=Ωi(u)+Δi(u)
Ωi(u)=diciΩ(u-t0)
Δi(u)=diciΔ(u-t0) (3)
For convenience, it is known as interfering spike by the spike that disturbing pulse generates.It should be pointed out that front derived
Two characteristics of signal peaks are also applied for interference spike.Since wavelet transformation is linearly invariant, two can be released by (3) formula
A useful property:
Property 1: the Amplitude Ration of signal peaks and interference spike is equal to the Amplitude Ration of signal pulse and disturbing pulse, i.e.,
Property 2: the time delay between signal peaks and interference spike is equal to prolonging between signal pulse and disturbing pulse
The slow time.
Because spike is more much narrower than former pulse, so signal peaks are disturbed spike and interfere the probability obscured very low.Since
Direct detection/position receiver to composite pulse (containing intersymbol interference ISI) will lead to biggish error rate, it may be considered that it is sharp
Detect/position with signal peaks.
The wavelet transformation W of noisen(u) or noise, as long as the noise would not influence signal peaks lower than signal peaks
Detection.When noise amplitude is higher, system will appear false-alarm, but noise in irregular shape is related to Gaussian pulse template
A very low correlation will be generated.Therefore, most false-alarm can be removed.In addition, by the expression formula of (1) g (u) it is found that
It can be enabled to be higher than noise as far as possible by the size of adjusting wavelet transform dimension factor a come the amplitude of promotion signal spike
Average value further promotes noise resisting ability.
(3) under multipath noise channel ultra-broadband signal ISI arrester and related algorithm
Based on the above theory analysis, the invention proposes ISI under a kind of new impulse radio multipath noise channel to eliminate
The system of device, system block diagram are as shown in Figure 5.After wavelet transformation and high-pass filtering processing, the signal pulse that receives with
The composite pulse that disturbing pulse is formed has been melted into four spikes.
Can be pushed away from signal peaks characteristic 2, the amplitude of spike is bigger, corresponding to UWB pulse signal width
It is worth bigger.Therefore, according to the channel model (there are straight lengths) of UWB multipath, the amplitude of signal peaks is higher than interference spike.
Signal peaks can be used for subsequent detection and positioning.
To tackle noise, special consideration should be given to the processing of false-alarm for the ISI elimination algorithm of ultra-broadband signal under noise circumstance.Specifically
Algorithm is as follows:
Step 1: search is higher than the reception signal of predetermined threshold value, and determines its time-domain position.
Step 2: intercepting out with receiving signal integrity with signal window.Wherein, the size of signal window is transmitting letter
Twice of number width.
Step 3: wavelet transformation is carried out to the reception signal after interception.
Step 4: high-pass filtering being carried out to the above-mentioned signal after wavelet transformation and is paid attention to obtaining the signal containing spike
Spike herein includes two signal peaks and two interference spikes.
Step 5: counter sets k=1.
Step 6: searching for the spike where k-th of maximum value of above-mentioned signal, and determine its time-domain position.
Step 7: being extracted spike with signal window at the time-domain position.Here signal window size Ying Bu little
In the width of spike, signal window center is the center of the spike.
Step 8: the spike of extraction is related to the template signal of correlation receiver.
If correlation is greater than predetermined threshold value, which is signal peaks, can be used for making conclusive judgement, is flowed
Journey terminates.
Otherwise, this is a false-alarm, and spike is noise, needs to abandon, and continue to execute step 9.
Step 9: if k is less than preset secondary numerical value of N, enabling k=k+1, be transferred to step 6 and continue to execute；Otherwise it receives
Signal may be not present, and be transferred to step 1 and re-search for.
It should be noted that step 9 increases recycling-guard mechanism, due to that can pass through adjusting wavelet transform dimension a etc.
Parameter allows signal peaks amplitude to be higher than white Gaussian noise average amplitude, and signal peaks will soon search, therefore secondary numerical value of N is general
Enough for 10.
(4) embodiment
It is as shown in Figure 6 that the present invention can eliminate the embodiment that intersymbol interference is eliminated under multipath noise channel.
Corresponding to ISI elimination algorithm, above-mentioned steps 1 as the result is shown in Fig. 6 (a), r (t) be receive have noise and
The composite pulse of intersymbol interference ISI.The signal and noise interference (SNIR) of r (t) is 1.82dB.R (t) and correlation reception
The correlation of machine template signal is only 0.67.Corresponding wavelet transformation and high-pass filtering are respectively illustrated in Fig. 6 (b) and (c)
As a result.A=0.008 and tc=2.5.The distance between transmitter and receiver are 10 meters.The amplitude c of disturbing pulsei=0.8
csAnd time delay t0=1.5.ds=di=1.During ISI is eliminated, a false-alarm (noise), the letter are shown in Fig. 6 (e)
Number one low correlation (0.27) of generation related to template, is abandoned by ISI elimination algorithm.Fig. 6 (d), which is shown, to be eventually detected
(temporal center position is u to signal peakss), 0.95 is up to template signal correlation, corresponding signal and noise interference
SNIR is increased to 8.22dB, is substantially improved compared to 1.82dB before, improves obvious.Fig. 6 (f) is the template of correlation receiver
Signal q (u-us).Correlation receiver judges that the threshold value of false-alarm takes 0.5 in the present embodiment.Due to highly relevant between the two, positioning
Receiver can correctly carry out subsequent pulse detection and positioning.
For thering is ISI to interfere and the reception signal of noise, if not receiving signal using intersymbol interference arrester
It can be become very poor with the correlation of template, when especially interference signal is opposite with useful signal symbol.And this hair is used
The correlation of correlation receiver can be close to 1 after bright ISI arrester, and receiver can correctly carry out pulse detection and positioning,
Positioning accuracy has obtained great promotion.
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 intersymbol interference under multipath noise channel, 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 described with ISI arrester
ISI arrester for eliminating ultra-wideband impulse radio multipath intersymbol interference, i.e., it is received to the UWB locating base station institute
Ultra-wide band signal pulses carry out wavelet transformation, then, high-pass filtering are carried out to the ultra-wide band signal pulses after wavelet transformation, to obtain
Spike signal is obtained, then, searches for k-th of maximum value of the spike signal, and determine its time-domain position, k initial value
1 is taken, then, the signal peaks of the signal containing spike of the time-domain position are extracted, then send it to location-server；
Location-server, the signal peaks of the signal containing spike for receiving the transmission of UWB locating base station, and the signal is sharp
Peak is related to the progress of template signal, if correlation is greater than predetermined threshold value, which is desired signal spike, then
Conclusive judgement is made, the signal peaks are otherwise abandoned, and judges whether k is less than this preset numerical value of N, if k is less than in advance
The secondary numerical value of N of setting then enables k=k+1, and extracts signal peaks again by the ISI arrester of UWB locating base station, until mentioning
The correlation of the signal peaks and template signal that take is greater than predetermined threshold value, then makes decisions, and 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. one kind according to claim 1 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: the UWB locating base station is several, wherein UWB positions the ultra-wide band signal pulses of label sending by 3
A UWB locating base station receives processing.
3. one kind according to claim 2 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: the location-server carries out generation location information by reaching time-difference TDOA location algorithm, it is 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.
4. one kind according to claim 3 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: to the UWB locating base station received ultra-wide band signal pulses carry out wavelet transformation concrete mode it is as follows:
The case where considering ISI, that is, the ultra-wide band signal pulses received are interfered pulse and the influence of noise, receive by
The ultra-wide band signal pulses of interference can indicate are as follows:
R (t)=s (t)+i (t)+n (t)
Wherein, s (t) is signal pulse, and i (t) is disturbing pulse, and n (t) is white Gaussian noise；
It is obtained by wavelet transformation
Wr(u)=Ws(u)+Wi(u)+Wn(u)
Wherein:
Ws(u)=dscsW (u)=Ωs(u)+△s(u)
△s(u)=dscs△(u)
Ωs(u)=dscsΩ(u)；
Wi(u)=Ωi(u)+△i(u)
Ωi(u)=diciΩ(u-t0)
△i(u)=dici△(u-t0)；
△ (u)=g (tc+u)+g(tc-u)
Wherein, useful signal data ds∈{+1,-1}；csIndicate the amplitude of signal pulse s (t)；Interfere data di∈ {+1, -1 },
ciIndicate the amplitude of disturbing pulse i (t), t0It is the interval time of s (t) He i (t)；Scale factor is a and a < < 1.
5. one kind according to claim 4 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: the spike signal includes two signal peaks and two interference spikes.
6. one kind according to claim 5 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: the Amplitude Ration of the signal peaks and interference spike is equal to the Amplitude Ration of signal pulse and disturbing pulse, it may be assumed that
Wherein, csIndicate the amplitude of signal pulse, ciIndicate the amplitude of disturbing pulse.
7. one kind according to claim 5 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: when the time delay between signal peaks and interference spike is equal to the delay between signal pulse and disturbing pulse
Between.
8. one kind according to claim 1 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: the UWB locating base station also has signal search module and signal window module；The signal search mould
Block is used to search for the reception signal higher than predetermined threshold value, and determines its time-domain position；The signal window module is using letter
Number window completely intercepts the ultra-wide band signal pulses of the signal search block search, and the signal window size is transmitting signal
Twice of width, used by the time-domain position is extracted the signal peaks of the signal containing spike by signal window
Signal window size is not less than the width of signal peaks.
9. one kind according to claim 1 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: the UWB locating base station has location receiver radio-frequency front-end system comprising press ultra-wide band signal pulses
Input direction be set in sequence bandpass filter, low-noise amplifier, bandpass filter, main amplifier, automatic gain amplifier,
ISI arrester and signal pulse detection module.
10. one kind according to claim 1 can eliminate the ultra-wideband positioning system of intersymbol interference under multipath noise channel,
It is characterized by: the UWB positioning label is active label, different UWB positioning labels are each equipped with the unique ID number of number.
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