CN109725288A - A kind of localization method based on arrival time and angle of arrival - Google Patents
A kind of localization method based on arrival time and angle of arrival Download PDFInfo
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- CN109725288A CN109725288A CN201711051079.0A CN201711051079A CN109725288A CN 109725288 A CN109725288 A CN 109725288A CN 201711051079 A CN201711051079 A CN 201711051079A CN 109725288 A CN109725288 A CN 109725288A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000004807 localization Effects 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 8
- 238000012790 confirmation Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Abstract
The invention discloses a kind of localization method based on arrival time and angle of arrival comprising steps of S1, the receiver receive the signal that the transmitter issues, and detects the power of the signal, the incoming wave angle of the transmitter is obtained according to the power；S2, the propagation delay time that machine testing transmitter sends ultra-broadband signal is received, the distance between the receiver and the transmitter is calculated according to the propagation delay time；S3, the incoming wave angle according to step S1 determine the position of the transmitter at a distance from described in step S2, and the localization method is simple.
Description
Technical field
The present invention relates to wireless positioning fields, more particularly to a kind of positioning side based on arrival time and angle of arrival
Method.
Background technique
Traditional indoor wireless positioning is generally divided into two kinds, and one is according to arrival time, another is according to arrival
Angle.Arrival time positions the different times reached according to each receiver, calculates the distance between transmitter, thus
Determine the position of transmitter, the quantity of general receiver is three.The transmitter institute that angle of arrival is obtained according to each receiver
Angle, obtain the position of transmitter, at least need two receivers.Both wireless location modes are required to multiple receptions
There is localization method complexity in machine.
Summary of the invention
In order to solve the technical problem of above-mentioned localization method complexity, the present invention proposes a kind of based on arrival time and angle of arrival
The localization method of degree.
Technical problem of the invention is resolved by technical solution below:
A kind of localization method based on arrival time and angle of arrival, includes the following steps:
S1, the receiver receive the signal that the transmitter issues, and detect the power of the signal, according to the function
Rate obtains the incoming wave angle of the transmitter；
S2, the propagation delay time that machine testing transmitter sends ultra-broadband signal is received, institute is calculated according to the propagation delay time
State the distance between receiver and the transmitter；
S3, the incoming wave angle according to step S1 determine the place of the transmitter at a distance from described in step S2
Position.
Preferably, the signal and the ultra-broadband signal are received by the same receiver.
Preferably, in step sl, the receiver receives the signal that the transmitter issues using phased array.
Preferably, in step sl, the incoming wave angle is the difference according to the power of maximum two adjacent beams
Value is found out.
Preferably, the signal includes simple signal or modulated signal or ultra-broadband signal in step sl.
Preferably, the receiver includes array antenna, by conjunction with the array antenna and the signal detected
Power determine the incoming wave angle.
Preferably, in step s 2, the time calculation method of the propagation delay time includes:
T1, the transmitter send TOA handshake, and transmission TOA is true after the receiver receives the TOA handshake
Recognize signal；
T2, the transmitter receive TOA confirmation signal described in step T1 and send first time TOA detection signal, and remember
Record sending instant is TSP；
T3, the receiver receive the detection of first time TOA described in step T2 signal, and record receives constantly as TRP, concurrently
Send complex signal back to, and recording sending instant is TSR；
T4, the transmitter receive return signal described in step T3, and record receives constantly as TRR, and send final TOA
Signal is detected, and recording sending instant is TSF, receiver receives the final TOA detection signal later, and record receives is constantly
TRF；The final TOA detection signal includes TSP、TRRAnd TSFInformation, the time TOF=(2T of the propagation delay timeRR-TSP-
2TSR+TRP+TRF-TSF)/4。
Preferably, the distance D=TOF × c in step s 2, wherein D is the distance, and TOF is the propagation delay time
Time, c is the light velocity.
The invention also provides a kind of device using any of the above-described the method, described device includes:
Transmitter, for emitting signal；
Receiver, for receiving the signal；
Microcontroller is used to carry out communication protocol control to the transmitter and the receiver.
Preferably, the transmitter includes ultra-broadband signal transmitter, and the receiver includes ultra-wideband signal receiver.
The beneficial effect of the present invention compared with the prior art includes: the simple signal that receiver receiver/transmitter issues, and
The power for detecting the simple signal obtains the incoming wave angle of the transmitter according to the power, need to only detect simple signal
The incoming wave angle of the transmitter can be obtained；The receiver receives the ultra-broadband signal that the transmitter issues later, and
The propagation delay time for detecting the ultra-broadband signal calculates between the receiver and the transmitter according to the propagation delay time
Distance, only need to detect ultra-broadband signal and can obtain the distance between receiver and the transmitter；According to incoming wave angle with
Distance can determine the position of transmitter, and therefore, the localization method is simple.
Detailed description of the invention
Fig. 1 is the transmitter system block diagram in the specific embodiment of the invention based on arrival time and angle of arrival positioning.
Fig. 2 is the receiver system block diagram in the specific embodiment of the invention based on arrival time and angle of arrival positioning.
Fig. 3 is the measurement direction figure of phased array in receiver in the specific embodiment of the invention.
Fig. 4 is the relational graph of gain difference and angle in the specific embodiment of the invention.
Fig. 5 (a) is communication protocols of the transmitter based on arrival time and angle of arrival positioning in the specific embodiment of the invention
Discuss flow chart；Fig. 5 (b) is communication protocols of the receiver based on arrival time and angle of arrival positioning in the specific embodiment of the invention
Discuss flow chart.
Specific embodiment
Below against attached drawing and in conjunction with preferred embodiment, the invention will be further described.
Referring to Fig. 1, the transmitter system implementation example figure based on arrival time and angle of arrival positioning.
Here transmitter sends TOA signal and DOA simple signal using commercial chip DW1000, in other embodiments,
The chip of other models can also be used, which be connected with antenna, be equivalent to receiver, and use microcontroller (MCU) into
The control of row communication protocol.When carrying out TOA test, the DW1000 in transmitter sends ultra wide band (ultra-wideband, UWB)
Signal；When carrying out DOA test, transmitter sends simple signal, is also possible to modulated signal or ultra-wide in other embodiments
Band signal.
Referring to Fig. 2, the receiver system of joint TOA-DOA positioning implements block diagram.
When carrying out TOA test, receiver detects the UWB signal transmission delay that transmitter is sent, meter using DW1000
Calculate the distance between transmitter and receiver；When carrying out DOA test, receiver is received using phased array, and is detected
The power for the simple signal that transmitter issues determines its incoming wave then according to the difference of maximum two neighboring beam power
Direction.In the present embodiment by taking the aerial array of 8 array element as an example, it is scanned using 10 wave beams, coverage area is 90 degree, and
Arrival bearing is found out according to the difference of maximum two adjacent beams power, is illustrated as shown in Figure 3 and Figure 4.It is provided in Fig. 3
Arrival bearing's figure of 10 wave beams of actual measurement, Fig. 4 provide the relationship of two neighboring beam gain difference and angle.According to maximum
The difference of two adjacent beams power obtains incoming wave angle by Fig. 4.Specifically, abscissa is angle, and ordinate is difference, one
Denier is aware of difference, so that it may obtain angle.Here difference refers to, the difference of the power of maximum two adjacent beams.For example,
If two beam powers of middle are two power of maximum value, then the position of transmitter be certainly the two wave beams it
Between angle on, then calculate the difference of the beam power measured, in conjunction with the original difference of the two beam antenna gains, then
Angle can be found out.
Referring to Fig. 5, joint TOA-DOA positioning and communicating agreement flow chart.Fig. 5 (a) is the communication flow diagram of transmitter；Figure
5 (b) be the communication flow diagram of receiver.Transmitter carries out proactive contact, and receiver passively receives.It illustrates, transmitting
Machine issues DOA handshake (including specific coding in signal, this function is realized by DW1000), is just comparable to tell receiver
DOA detection will be carried out, after receiver receives DOA signal, emits DOA confirmation signal to transmitter, to establish connection.
TOA detection is similar.The control program default of MCU first carries out DOA, then carries out TOA detection again.Single-frequency and ultra-broadband signal by
DW1000 is issued, and MCU is controlled.
Firstly, detecting about DOA, transmitter sends DOA handshake, and receiver sends DOA after receiving DOA handshake
Confirmation signal；After transmitter receives DOA confirmation signal, single frequency point signal, duration 100ms are sent.And receiver uses
Phased array is scanned, and obtains the performance number of 10 wave beams, then according to the power difference of maximum two neighboring wave beam, is determined
Incoming wave angle.
Then, TOA detection is carried out according to the communication protocol of chip DW1000, specifically: transmitter sends TOA and shakes hands letter
Number, receiver sends TOA confirmation signal after receiving；Transmitter receives TOA confirmation signal, and transmitter emits first time TOA detection
Signal, and its launch time is recorded as TSP；Receiver receives first time TOA detection signal, records its time TRP, and send back
Complex signal, and launch time is recorded as TSR；Transmitter receives the return signal of receiver, and the record time of receipt (T of R) is TRR, concurrently
Final TOA detection signal is sent, sending time is recorded as TSF, and sending final TOA detection signal content includes TSP, TRR and TSF letter
Breath.Receiver receives TOA final signal, and record receiving time is TRF.The time for being transferred to receiver from transmitter is TOF
=(2TRR-TSP-2TSR+TRP+TRF-TSF)/4.Distance D's is calculated as D=TOF × c, and c is the light velocity, and distance D refers to transmitting
The distance between machine and receiver.
Finally, determining transmitter position according to obtained angle and distance.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those skilled in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical, all answered
When being considered as belonging to protection scope of the present invention.
Claims (10)
1. a kind of localization method based on arrival time and angle of arrival, which comprises the steps of:
The signal that S1, receiver receiver/transmitter issue, and the power of the signal is detected, the hair is obtained according to the power
Penetrate the incoming wave angle of machine；
S2, the receiver receive the ultra-broadband signal that the transmitter issues, and when detecting the transmission of the ultra-broadband signal
Prolong, the distance between the receiver and the transmitter are calculated according to the propagation delay time；
S3, the incoming wave angle according to step S1 determine that the institute of the transmitter is in place at a distance from described in step S2
It sets.
2. localization method as described in claim 1, which is characterized in that the signal and the ultra-broadband signal are by the same institute
State receiver reception.
3. localization method as described in claim 1, which is characterized in that in step sl, the receiver is connect using phased array
Receive the signal that the transmitter issues.
4. localization method as described in claim 1, which is characterized in that in step sl, the incoming wave angle is according to maximum
The differences of the power of two adjacent beams find out.
5. localization method as described in claim 1, which is characterized in that the signal includes simple signal or tune in step sl
Signal or ultra-broadband signal processed.
6. localization method as described in claim 1, which is characterized in that the receiver includes array antenna, by combining institute
The power for the signal stating array antenna and detecting determines the incoming wave angle.
7. localization method as described in claim 1, which is characterized in that in step s 2, the time of the propagation delay time calculates
Method includes:
T1, the transmitter send TOA handshake, and the receiver sends TOA confirmation letter after receiving the TOA handshake
Number；
T2, the transmitter receive TOA confirmation signal described in step T1 and send first time TOA detection signal, and record hair
It send constantly as TSP；
T3, the receiver receive the detection of first time TOA described in step T2 signal, and record receives constantly as TRP, and send back
Complex signal, and recording sending instant is TSR；
T4, the transmitter receive return signal described in step T3, and record receives constantly as TRR, and send final TOA detection
Signal, and recording sending instant is TSF, receiver receives the final TOA detection signal later, and record receives constantly as TRF；
The final TOA detection signal includes TSP、TRRAnd TSFInformation, the time TOF=(2T of the propagation delay timeRR-TSP-2TSR+
TRP+TRF-TSF)/4。
8. localization method as described in claim 1, which is characterized in that the distance D=TOF × c in step s 2, wherein D
For the distance, TOF is the time of the propagation delay time, and c is the light velocity.
9. a kind of device using any the method for claim 1-8, which is characterized in that described device includes:
Transmitter, for emitting signal；
Receiver, for receiving the signal；
Microcontroller is used to carry out communication protocol control to the transmitter and the receiver.
10. device as claimed in claim 9, which is characterized in that the transmitter includes ultra-broadband signal transmitter, described to connect
Receipts machine includes ultra-wideband signal receiver.
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Cited By (2)
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| CN110290491A (en) * | 2019-05-17 | 2019-09-27 | 重庆邮电大学 | A kind of indoor objects localization method based on multipath auxiliary |
| CN112104416A (en) * | 2019-06-17 | 2020-12-18 | 西安电子科技大学 | Double-parallel Mach-Zehnder modulator-based unambiguous arrival angle measurement method |
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Cited By (3)
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| CN110290491A (en) * | 2019-05-17 | 2019-09-27 | 重庆邮电大学 | A kind of indoor objects localization method based on multipath auxiliary |
| CN112104416A (en) * | 2019-06-17 | 2020-12-18 | 西安电子科技大学 | Double-parallel Mach-Zehnder modulator-based unambiguous arrival angle measurement method |
| CN112104416B (en) * | 2019-06-17 | 2021-06-01 | 西安电子科技大学 | Double-parallel Mach-Zehnder modulator-based unambiguous arrival angle measurement method |
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