CN109655824A - The method for improving UWB range accuracy in gun off-location alarm system - Google Patents
The method for improving UWB range accuracy in gun off-location alarm system Download PDFInfo
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- CN109655824A CN109655824A CN201710940470.XA CN201710940470A CN109655824A CN 109655824 A CN109655824 A CN 109655824A CN 201710940470 A CN201710940470 A CN 201710940470A CN 109655824 A CN109655824 A CN 109655824A
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- G—PHYSICS
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/78—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted discriminating between different kinds of targets, e.g. IFF-radar, i.e. identification of friend or foe
- G01S13/785—Distance Measuring Equipment [DME] systems
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Abstract
Disclose a kind of method for improving UWB range accuracy in gun off-location alarm system, it include: to issue distance measurement request pulse signal to sentry box base station at the first moment from the UWB module for the beacon being installed in gun, sentry box base station UWB module is in the second reception to request pulse signal, and response signal is issued to beacon at the third moment, the UWB module of beacon is in the 4th reception to the response signal, and end signal is issued at the 5th moment, sentry box base station UWB module is in the 6th reception to end signal；The two-way flight time of pulse signal between the two in beacon and sentry box base station is calculated based on the first moment, the second moment, third moment, the 4th moment, the 5th moment and the 6th moment, so that it is determined that UWB ranging information, wherein, UWB ranging information is distance of the beacon to sentry box base station；And the parameter configuration different based on multiple groups, adaptively selected corresponding parameter configuration are filtered UWB ranging information data.
Description
Technical field
The present invention relates to a kind of method of raising UWB (Ultra Wideband, ultra wide band) range accuracy, in particular to one
The method that kind improves UWB range accuracy in gun off-location alarm system.
Background technique
In recent years, several plunders, theft army and police's firearms and ammunition on duty, personal safety and society to the people have occurred for various countries
It is stable to bring harm.Gun manage in place, alarm of offing normal, have become national governments' problem to be solved.Accurate display
Current location of the gun on duty apart from sentry box, accurately alarms rapidly when gun are offed normal, and learns that gun dynamic is believed in real time
Breath and abnormal conditions simultaneously respond rapidly to an important applied field as ranging technology.
Currently, common ranging technology RFID, has relevant patent to detect applied to gun off-location, but RFID is based on penetrating
Frequency signal strength calculates distance, inconsistent for different application environment distance measurement results, be easy to cause the false alarm of gun off-location.
UWB ultra-wide band technology has that precision high (being uniquely able to satisfy the wireless distance finding locating scheme of sub-meter grade), capacity be big, function
The features such as low is consumed, there are powerful advantages in pinpoint application demand.However, the non line of sight ring such as blocking in human body, object
Under border, wireless signal is received through a variety of ways, and multipath effect can be brought that time delay is asynchronous, signal decaying, polarization change,
A series of problems, such as link is unstable, to reduce precision to a certain extent, generate range error, it is therefore desirable to mature and stable
Algorithm and system-level scheme guarantee range accuracy.
Moreover, range frequency needed for practical application is lower, and ranging data is irregular, the data movement of each ranging
And interference has randomness, thus the single digital filter such as common FIR filter, iir filter, Kalman filter is difficult
With design parameter, different ranging environment can not be adapted to, excessively complicated data calculate the computational load that also will increase single-chip microcontroller, prolong
Slow data processing rate, reduces system real time, so needing the filtering algorithm and reality low, adaptable using computation complexity
The flow chart of data processing of Shi Xinggao carrys out safeguards system performance and improves range accuracy.
Summary of the invention
To solve the above problem, the present invention provides a kind of methods for improving UWB range accuracy, are applied to gun off-location report
Alert system.
According to one embodiment of present invention, UWB range accuracy in a kind of raising gun off-location alarm system is provided
Method, comprising: issue distance measurement request pulse letter to sentry box base station at the first moment from the UWB module for the beacon being installed in gun
Number, the sentry box base station UWB module in the second reception to the request pulse signal, and at the third moment to the beacon
Response signal is issued, the UWB module of the beacon issues knot to the response signal, and at the 5th moment in the 4th reception
Beam signal, the sentry box base station UWB module is in the 6th reception to the end signal；Based on first moment, second
Moment, third moment, the 4th moment, the 5th moment and the 6th moment calculate pulse signal in the beacon and the sentry box base
The two-way flight time stood between the two, so that it is determined that UWB ranging information, wherein the UWB ranging information is that the beacon arrives
The distance of the sentry box base station；And the parameter configuration different based on multiple groups, adaptively selected corresponding parameter configuration is to described
UWB ranging information data are filtered.
Preferably, the determining UWB ranging information further comprises: according to pulse signal in the beacon and the sentry box
The product of base station unidirectional flight time between the two and propagation velocity of electromagnetic wave, are calculated the UWB ranging information,
In, the unidirectional flight time is calculated based on following formula:
TTOF=(2TRR-TSP-2TSR+TRP+TRF-TSF)/4
Wherein, TTOFIt is the unidirectional flight time, TSPIt is first moment, TRPIt is second moment, TSRIt is institute
State third moment, TRRIt is the 4th moment, TSFIt is the 5th moment, and TRFIt is the 6th moment.
Preferably, the different parameter configuration of the multiple groups include: at a slow speed weight, quick weight and jump weight.
Preferably, the adaptively selected corresponding parameter configuration is filtered the UWB ranging information data
Further comprise: establishing a queue；For situation that is static or moving slowly at, the situation fast moved and occluded environment
Situation establishes weight, the quick weight and the jump weight at a slow speed respectively；Receive a new measurement data, pressure
Enter the queue；Calculate the difference of the new measurement data and last show value；And it is selected according to the difference pair
The weight answered is to be filtered operation.
Preferably, described to be selected the corresponding weight to further comprise to be filtered operation according to the difference: if
The difference is greater than error, then abandons the new measurement data, keeps last show value；If the difference is greater than maximum
Value then judges that a possibility that new measurement data is jump is big, uses the jump weight as weight distribution；If institute
Difference is stated greater than threshold value is fast moved, then judges that a possibility that new measurement data is running state is big, using described fast
Fast weight is as weight distribution；If the difference, which is greater than, moves slowly at threshold value, the new measurement data is judged to walk about
A possibility that state, is big, uses the weight at a slow speed as weight distribution；And if the difference is less than described move slowly at
Threshold value does not handle the new measurement data then, uses raw measurement data.
Preferably, it is described the step of corresponding weight is to be filtered operation is selected according to the difference before, into
One step includes: to assess the new measurement number based on the acceleration transducer beacon motion state obtained in the beacon
A possibility that according to for abnormal data, wherein beacon movement velocity is calculated, according to the difference of initial data and last measured value
Value judges a possibility that data are correct or abnormal.
Preferably, the acceleration transducer in the beacon is adaptive according to the different motion state of the beacon sensed
The range frequency of the UWB module of the beacon should be adjusted.
Preferably, the filtering processing includes limit filtration, recurrence average filtering, weighted average filtering.
Preferably, the UWB ranging information data are stored in a fifo queue, the new ranging number received every time
According to the fifo queue tail portion is pressed into, the data of team's head are removed, obtain currently to the data processing in the fifo queue
Ranging information.
The method operates on beacon and the Embedded Hardware Platform of base station, using UWB technology complete basic ranging with
Data transmission, the optimization processing of ranging data is carried out using digital filtering technique, is pressed down in the non line of sight for having object to block
Data jump processed, smooth steady data, to improve range accuracy under the scene of severe signal decaying and multipath effect.Cause
This, can block, in noisy situation in non line of sight, object according to the method for the embodiment of the present invention, inhibit ranging data
Jump reduces range error, improves ranging stability, in the ranging monitoring system of practical application, improves system accuracy and report
Alert accuracy.
According to the detailed description below the disclosure and attached drawing, mesh other to those skilled in the art
, feature and advantage will be apparent.
Detailed description of the invention
Drawing illustration method core logic of the invention, simulated effect figure and measured result figure, and together with specification
Principle for explaining the present invention.In the accompanying drawings:
Fig. 1 shows the system architecture of the gun off-location alarm system 100 according to an embodiment of the present invention based on UWB technology
Figure；
Fig. 2 shows beacon internal circuit schematic diagrames 200 according to an embodiment of the present invention；
Fig. 3 shows the method for UWB range accuracy in raising gun off-location alarm system according to an embodiment of the present invention
Flow chart 300.
Fig. 4 shows the range measurement principle figure according to an embodiment of the present invention based on UWB；
Fig. 5 shows the flow chart of adaptive filter method according to an embodiment of the present invention；
Fig. 6 shows flow chart of data processing figure according to an embodiment of the present invention；
Fig. 7 shows MATLAB data simulation treatment effect figure according to an embodiment of the present invention；And
Fig. 8 shows data actual measurement treatment effect figure according to an embodiment of the present invention.
Specific embodiment
Embodiment according to the present invention discloses a kind of method for improving UWB range accuracy in gun off-location alarm system.
In the following description, for illustrative purposes, multiple details are elaborated to provide the comprehensive understanding to the embodiment of the present invention.
However, for those skilled in the art it is readily apparent that the embodiment of the present invention can be without these specific details
It realizes.
Fig. 1 shows the system architecture diagram of the gun off-location alarm system according to an embodiment of the present invention based on UWB technology
100.As shown in Figure 1, gun off-location alarm system according to the present invention includes being mounted on the base station 103 in sentry box 101 and being mounted on
Beacon 105 in gun 107.Although schematically showing sentry box base station and a beacon in figure, and in order to succinct
Property be omitted Batch Processing processing part, however it is understood by skilled practitioners that the certain number listed merely for convenience of description
Purpose sentry box base station and beacon, they are not limited to listed quantity, can have more or fewer hilllocks according to situation
Pavilion base station and beacon, and there is the backstage command and control platform being uniformly accessed into.
The sentry box base station 103 can be placed at such as guard on duty sentry box, can determine letter by UWB ranging technology
Mark the distance to sentry box base station.Fig. 1, which is shown, is mounted with that the gun 107 of beacon 105 are in depletion region, the field in horizon range
Jing Tu.In addition, scene at beacon gun can further include, human body blocks scene, wall blocks scene, region
Inside there is metal building object field scape, have major pedestrian movement's scene and various compound scenes in region.
Further, the sentry box base station 103 further includes acoustic-optic alarm, for reporting to illegal undocked state
It is alert.Software systems improve range accuracy, ensure data accurately and be system correctly alarm, sensitive alarm, the weight failed to report without wrong report, nothing
Guarantee.
The beacon 105 is installed in gun 107, has UWB distance measurement function, is led to the base station 103 for being mounted on sentry box 101
News, ranging data are finally calculated by base station module, the ARM microprocessor operation data processing routine in base station 103, are carried out
Selection judgement, the filtering processing, smooth optimization of data, export final distance measurement result.
Fig. 2 shows beacon internal circuit schematic diagrames 200 according to an embodiment of the present invention.As shown in Fig. 2, being mounted on gun
Beacon 105 in 107 includes power supervisor 201, power supply 202, UWB module 203, acceleration transducer 204, fine motion is protected to open
Close 205, low-power consumption arm processor 206 and UWB antenna 207.As shown in Fig. 2, power supervisor 201, UWB module 203, acceleration
Degree sensor 204, protection microswitch 205 are all connected via control bus with low-power consumption arm processor 206, so that low function
Consumption arm processor 206 can be realized the communication control to the modules of beacon.
The power supply 202 is used to be powered beacon and its component.Power supervisor 201 is connected with power supply 202, and
And connect via control bus with low-power consumption arm processor 206, for managing the power supply to each module of beacon, and can be with
It further comprise such as battery protecting circuit, battery capacity reading circuit.In one embodiment of the invention, power supply 202 is
Battery, preferably lithium battery.It will be understood by those skilled in the art that power supply 202 can be the power supply source of other forms, as long as energy
Enough beacon power supplies into gun.
UWB module 203 can wirelessly communicate with the UWB module being mounted in the base station of sentry box and complete distance measurement function.It is described
Beacon UWB module 203 is in the first moment TSPDistance measurement request pulse signal, the sentry box base station UWB are issued to the sentry box base station
Module is in the second moment TRPThe request pulse signal is received, in third moment TSRIssue response signal, the beacon UWB
Module 203 is in the 4th moment TRRThe response signal is received, and in the 5th moment TSFIssue end signal, the sentry box base
UWB module stand in the 6th moment TRFThe end signal is received, is existed hereby based on this six moment to calculate pulse signal
Flight time between the two, so that it is determined that UWB ranging.
Acceleration transducer 204 detects dynamic/quiet state of gun beacon, detects the moving situation of beacon.Acceleration sensing
Device 204 sends the frequency of pulse signal based on detected acceleration come adaptively mouse beacon.For example, when acceleration passes
When sensor 204 detects the first acceleration or acceleration within the first preset range, pulse letter is sent with first frequency
Number, when acceleration transducer 204 detects the second acceleration different from the first acceleration or is in the first preset range not
With the second preset range within acceleration when, be different from first frequency second frequency send pulse signal.
Microswitch 205 is protected to detect the installation condition of gun beacon, the protection of 206 real-time monitoring of low-power consumption arm processor
The state of microswitch 205.When gun beacon normal mounting is inside gun, protection microswitch 205 is in closed state.When
Gun beacon is removed gun, and protection microswitch 205 is in the open state.Low-power consumption arm processor 206 can pass through prison
The state for surveying protection microswitch 205, judges whether gun beacon is removed gun, thus judging that gun beacon is removed
Disassembly warning message is generated in the case where gun out.
The low-power consumption arm processor 206 can be used to realize the low power consumption control to the beacon.It is according to the present invention
Embodiment, when gun are in totally stationary state, beacon is in deep sleep, and modules are in low-power consumption mould
Formula, including low-power consumption arm processor 206；(acceleration threshold value is preset) when larger displacement occurs for gun, and acceleration passes
Sensor wakes up low-power consumption arm processor 206 by interrupting；(in place on duty), low function are under relative static conditions for gun
Consumption arm processor 206 can reduce ranging working frequency, to reduce power consumption.
The low-power consumption arm processor 206 can complete range data calculating, according to the timestamp of UWB module, calculate one
The mean time of flight of secondary communication is multiplied by the transmission speed of electromagnetic wave, obtains current distance value, then pass through limit filtration, recursion
The filtering operations such as average filter, weighted average filtering optimize processing to data, turn network interface module finally by serial ports and send
It is shown to backstage.
The UWB antenna 207 is connected with the UWB module 203, for ultra-wide to be received and emitted during wireless telecommunications
The band wireless burst pulse of non-sinusoidal waveform completes data transmission.
Fig. 3 shows the method 300 of UWB range accuracy in raising gun off-location alarm system according to an embodiment of the present invention
Flow chart.As shown in figure 3, in step 301, from the UWB module for the beacon being installed in gun at the first moment to sentry box base
Stand issue distance measurement request pulse signal, the sentry box base station UWB module in the second reception to the request pulse signal, and
Response signal is issued to the beacon at the third moment, the UWB module of the beacon is believed in the 4th reception to the response
Number, and end signal is issued at the 5th moment, the sentry box base station UWB module is in the 6th reception to the end signal.
In step 303, it is based on first moment, the second moment, third moment, the 4th moment, the 5th moment and the 6th
Moment calculates the two-way flight time of pulse signal between the two in the beacon and the sentry box base station, so that it is determined that UWB
Ranging information, wherein the UWB ranging information is distance of the beacon to the sentry box base station.Then, in step 305, base
In the different parameter configuration of multiple groups, adaptively selected corresponding parameter configuration is filtered place to the UWB ranging information data
Reason.
Fig. 4 shows the two-way flight time range measurement principle figure according to an embodiment of the present invention based on UWB.Specifically, such as
T of the UWB range finder module on its timestamp shown in Fig. 4, in beaconSPMoment sends the pulse signal of request property, is mounted
The time stamp T of UWB range finder module in the base station of sentry box at oneselfRPReception arrives, in response to the pulse signal, base station UWB
Module is in TSRMoment emits the signal of a response property, by the UWB range finder module in beacon in oneself time stamp TRRMoment
It receives, and in TSFMoment emits the signal that a ranging terminates, and base station UWB module is in TRFReception terminates letter to the ranging
Number.The flight time of pulse signal between two modules can be calculated by the time difference for receiving with sending, so that it is determined that
Range information.Mainly two-way flight time using signal between two asynchronous UWB range finder modules measures the distance measuring method
Distance between node, the time T that data packet is unidirectionally flown in the skyTOFIt can be averaged and be acquired by total time difference, calculated are as follows:
TTOF=((TRR-TSP)-(TSR-TRP)+(TRF-TSR)-(TSF-TRR))/4
Namely:
TTOF=(2TRR-TSP-2TSR+TRP+TRF-TSF)/4
Then according to TTOFPoint-to-point transmission distance D=C*T can be calculated with the product of propagation velocity of electromagnetic waveTOF。
In the distance measuring method, the two-way flight time between two asynchronous UWB range finder modules is by beacon end and base station
Hold respective timestamp that difference is asked to obtain, the UWB range finder module of beacon and the UWB range finder module of sentry box base station are without realizing clock
It is synchronous, range accuracy is increased in practical applications and reduces system complexity.
Fig. 5 shows the flow chart of adaptive filter method according to an embodiment of the present invention.As shown in figure 5, in step
501, a queue is established, for storing data to be processed, for example, the queue is the queue that length is n.Then, in step
503, the different weight of multiple groups is established for different situations.For example, in one embodiment, for static or move slowly at
The situation of situation (for example, ambulatory position), the situation fast moved (for example, running state) and occluded environment is (for example, data
Jump), three groups of different weights are established respectively: weight coeff_slow, quick weight coeff_fast and jump power at a slow speed
Value coeff_jump, to select different weight distributions according to the difference of data difference under these types of situation.This field skill
Art personnel understand that the situation is not limited in above listed three kinds of situations, can add other situations according to the actual situation.
In step 505, a new measurement data is received, the queue that step 501 is established is pressed into.In step 507, meter
The difference diff for calculating new data and last show value, to judge a possibility that new measurement data is abnormal, to select to correspond to
Weight to be filtered operation.Specifically, in step 509, judge whether difference diff is greater than the error amount of systemic presupposition
Error, for example, in one embodiment, beacon maximum moving distance does not exceed 20 meters in a data uplink time, therefore
Error amount error can fetch value 20.If diff numerical value is greater than error, data, which have greatly, at this time to be wrong data, then
This new measurement data is abandoned in step 511, keeps last show value.If step 509 judging result is no, entrance step
Rapid 513, judge whether difference diff is greater than max-thresholds max, beacon can in the corresponding data uplink time of max-thresholds max
Mobile maximum distance, generally can be with value for such as 9~12).If step 509 judging result be it is yes, in step 515
Judge that a possibility that new measurement data is jump is big, uses jump weight coeff_jump as weight distribution.If
Step 513 judging result be it is no, then enter step 517, judge whether difference diff is greater than and fast move threshold value run, for example,
This in one embodiment, which fast moves threshold value run generally, to be 3~6 with value.If step 513 judging result be it is yes,
A possibility that step 519 judges the new measurement data to fast move state (for example, running state) is big, uses quick power
Value coeff_fast is as weight distribution.If step 517 judging result be it is no, enter step 521, judge that difference diff is
It is no be greater than move slowly at threshold value walk, for example, this move slowly at threshold value walk generally can with value be 1~2.If step 517
Judging result be it is yes, then judging the new measurement data in step 523 can for move slowly at state (for example, ambulatory position)
Can property it is big, use at a slow speed weight coeff_slow as weight distribution.If be judged as NO in step 521, enter step
525, wherein not handling the new measurement data, use raw measurement data.
Finally, being filtered operation, and data after processing are sent to backstage and are shown, then return step in step 527
505, data operation next time is carried out, until having handled the data in the queue.Specifically, those skilled in the art manage
It solves, the filtering operation in step 527 for example can include but is not limited to limit filtration, recurrence average filtering, weighted average filtering
Deng.In one embodiment of the invention, limit filtration sets the maximum data value of system permission, more than the data of maximum value
It can be filtered out, reduce because environmental disturbances cause system to be operating abnormally the wrong data occurred；Recurrence average filtering and weighted average
Filtering utilizes the forward-backward correlation of data, using the test data in a period of time come the current data that is averaged, smooth data plot,
Data caused by the ranging data due to caused by the multi-path jammings such as signal reflex, refraction shake or co-channel interference extremely are inhibited to jump
Become.
It will be appreciated by those skilled in the art that above selecting different weights according to the difference of data difference under a variety of situations
It distributes and is centainly adjustable according to sequence, the sequence shown in Fig. 5, have no effect on the realization of filtering.Moreover, limit
The sequence that width filtering, recurrence average filtering, weighted average filter is also that can be interchanged.
Adaptive filter method combination various filters design shown in fig. 5, and it is provided with the different calculating parameter of multiple groups,
In software running process, which, which judges automatically data, is abnormal jump, is disturbed fluctuation, is static or transport at a slow speed
Dynamic, quickly movement equally likely possibility size, adaptively selected different parameter logistic is according to being filtered, to reach maximum
Algorithm adaptability, filtering and data accuracy.
Method in the present invention can further cooperate with the acceleration transducer data built in beacon, according to acceleration sensing
The beacon motion state that device reports, further a possibility that the correctness of estimation ranging initial data, data exception, data are different
Often a possibility that, is higher, and parameter used in filter is bigger, to inhibit abnormal data.For example, in one embodiment, ARM
Microcomputer reads acceleration transducer state, if accelerometer be it is static, initial data should be basic with last measured value
It is equal, the difference of the two more big then data exception a possibility that it is higher, if accelerometer be movement, further read one section when
The value of interior acceleration calculates beacon movement velocity, judges that data are correct according to initial data and the difference of last measured value
Or a possibility that abnormal, to more accurately choose filtering parameter, it is intelligent with result accuracy to improve system, and according to
The different motion states of the beacon sensed, the range frequency of the adaptive UWB module for adjusting beacon, substantially increase number
According to real-time and gun off-location alarm response speed, reduce the overall power consumption of system.
Fig. 6 shows flow chart of data processing figure according to an embodiment of the present invention.As shown in fig. 6, the UWB ranging information number
According to being stored in a fifo queue, one-dimensional slip window sampling (pipelining) is used to flow chart of data processing, is received every time
The new ranging data a arrived1、a2、a3、……、anIt is pressed into the fifo queue tail portion, the data a of team's head1It is removed, to the FIFO team
N data processing in column show that current ranging information, data are handled when uploading, and without waiting for data accumulation, completes initial
Data output is substantially non-delay after change, and operation efficiency is high, and system real time is good.
Fig. 7 shows MATLAB data simulation treatment effect figure according to an embodiment of the present invention.As shown in fig. 7, above
Waveform diagram is original waveform, and initial data is to have metal building in surrounding and beacon is blocked by human body under crowded environment
When actual test acquire data, due to metallic object to the absorption of signal, human body to signal block and environmental disturbances object is to letter
Number reflection caused by multipath effect, the jump of original ranging data is more, fluctuation seriously, data light slip is poor.Under as shown in fig. 7,
The waveform diagram in face is initial data through MATLAB filtering algorithm treated waveform, it can be seen that jump data are substantially inhibited,
Data fluctuations significantly reduce, and data light slippery significantly improves, and data and curves trend, single-point numerical value compared with initial data substantially without
Distortion, filtering processing effect is good, ranging stability and accuracy significant increase.
Fig. 8 shows data actual measurement treatment effect figure according to an embodiment of the present invention.As shown in figure 8, waveform diagram above
It is original waveform, initial data is practical when surrounding has metal building and beacon is blocked by human body under crowded environment
Test acquisition data, due to metallic object to the absorption of signal, human body to signal block and environmental disturbances object is to the anti-of signal
Caused multipath effect is penetrated, original ranging data jump is more, fluctuation is serious, and data light slip is poor.As shown in figure 8, following wave
Shape figure is ranging process initial data in base station end real-time perfoming data filtering treated waveform, it can be seen that final output
Data and curves are smooth, jump without serious, and actual measurement process observation data output is no-delay, ranging data is accurate and error very little,
Quickly data are without Caton non-jitter when movement, and geofence promptly and accurately, protect while improving system range accuracy by this method
The real-time and scalability for having demonstrate,proved system, have a good application prospect.
In conclusion embodiment according to the present invention scheme acquires a large amount of test numbers for various practical application scenes
According to being compared by theoretical calculation, simulating, verifying and actual measurement and select optimal algorithm parameter, survey system under unobstructed environment
Initial value is kept away from data, data jump is pressed under occluded environment, and it is static or data stabilization deviation is small when moving slowly at, quickly
Real-time property is good when mobile and data dithering is small.
Above-described embodiment is only the preferred embodiment of the present invention, is not intended to restrict the invention.To those skilled in the art
It is readily apparent that without departing from the spirit and scope of the present invention, various repair can be carried out to the embodiment of the present invention
Change and changes.Therefore, the invention is intended to cover fall within the scope of the present invention as defined by the appended claims all to repair
Change or modification.
Claims (9)
1. a kind of method for improving UWB range accuracy in gun off-location alarm system, comprising:
Distance measurement request pulse signal, institute are issued to sentry box base station at the first moment from the UWB module for the beacon being installed in gun
Sentry box base station UWB module is stated to issue to the request pulse signal, and at the third moment to the beacon in the second reception
Response signal, the UWB module of the beacon issue end letter to the response signal, and at the 5th moment in the 4th reception
Number, the sentry box base station UWB module is in the 6th reception to the end signal；
Pulse is calculated based on first moment, the second moment, third moment, the 4th moment, the 5th moment and the 6th moment
Two-way flight time of the signal in the beacon and the sentry box base station between the two, so that it is determined that UWB ranging information, wherein
The UWB ranging information is distance of the beacon to the sentry box base station；And
Based on the different parameter configuration of multiple groups, adaptively selected corresponding parameter configuration carries out the UWB ranging information data
Filtering processing.
2. according to the method described in claim 1, wherein, the determining UWB ranging information further comprises:
According to pulse signal in the beacon and the sentry box base station unidirectional flight time between the two and Electromagnetic Wave Propagation speed
The UWB ranging information is calculated in the product of degree,
Wherein, the unidirectional flight time is calculated based on following formula:
TTOF=(2TRR-TSP-2TSR+TRP+TRF-TSF)/4
Wherein, TTOFIt is the unidirectional flight time, TSPIt is first moment, TRPIt is second moment, TSRIt is described
Three moment, TRRIt is the 4th moment, TSFIt is the 5th moment, and TRFIt is the 6th moment.
3. according to the method described in claim 1, wherein, the different parameter configuration of the multiple groups includes: weight, quickly power at a slow speed
Value and jump weight.
4. according to the method described in claim 3, wherein, the adaptively selected corresponding parameter configuration is to the UWB ranging
Information data, which is filtered, further comprises:
Establish a queue；
For situation that is static or moving slowly at, the situation of the situation and occluded environment that fast move, establish respectively described slow
Fast weight, the quick weight and the jump weight；
A new measurement data is received, the queue is pressed into；
Calculate the difference of the new measurement data and last show value；And
Selected corresponding weight to be filtered operation according to the difference.
5. described to be selected corresponding weight to be filtered according to the difference according to the method described in claim 4, wherein
Operation further comprises:
If the difference is greater than error, the new measurement data is abandoned, keeps last show value；
If the difference is greater than maximum value, judges that a possibility that new measurement data is jump is big, use the jump
Variable weight value is as weight distribution；
If the difference, which is greater than, fast moves threshold value, judge that a possibility that new measurement data is running state is big,
Use the quick weight as weight distribution；
If the difference, which is greater than, moves slowly at threshold value, judge that a possibility that new measurement data is ambulatory position is big,
Use the weight at a slow speed as weight distribution；And
If the difference moves slowly at threshold value described in being less than, the new measurement data is not handled, use is original
Measurement data.
6. according to the method described in claim 4, further comprising:
Based on the acceleration transducer beacon motion state obtained in the beacon, it is different for assessing the new measurement data
A possibility that regular data, wherein beacon movement velocity is calculated, to be judged according to the difference of initial data and last measured value
A possibility that data are correct or abnormal.
7. according to the method described in claim 1, wherein, the acceleration transducer in the beacon is according to the beacon sensed
Different motion state, adaptively adjust the range frequency of the UWB module of the beacon.
8. according to the method described in claim 1, wherein, the filtering processing includes limit filtration, recurrence average filtering, weighting
Average filter.
9. according to the method described in claim 1, wherein, the UWB ranging information data are stored in a fifo queue,
The new ranging data received every time is pressed into the fifo queue tail portion, and the data of team's head are removed, to the fifo queue
Interior data processing obtains current ranging information.
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