CN109889987A - Terminal positioning dispatching method based on UWB - Google Patents
Terminal positioning dispatching method based on UWB Download PDFInfo
- Publication number
- CN109889987A CN109889987A CN201910315439.6A CN201910315439A CN109889987A CN 109889987 A CN109889987 A CN 109889987A CN 201910315439 A CN201910315439 A CN 201910315439A CN 109889987 A CN109889987 A CN 109889987A
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- China
- Prior art keywords
- base station
- uwb
- locating base
- terminal
- broadcast
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
-
- 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
Abstract
The present invention relates to a kind of terminal positioning dispatching method based on UWB, comprising: UWB locating base station part, UWB locating base station position is fixed, for broadcasting locating desired information；And UWB positioning terminal part, for receiving the broadcast of UWB locating base station, and timestamp is reached according to broadcasted content and broadcast and calculates self-position.Self-position can be calculated using positioning dispatching method terminal of the present invention, the high business of real-time can be realized in terminal, such as navigate, path planning, automatic Pilot etc..
Description
Technical field:
The present invention relates to the communication technology and wireless positioning fields more particularly to a kind of UWB locating base station to provide positioning service,
UWB positioning terminal calculates the ultra-wideband positioning system of self-position and the terminal positioning dispatching method based on UWB.
Background technique:
In current UWB positioning system, terminal location solve be usually server carry out, i.e., UWB locating base station with
After UWB positioning terminal carries out interacting message, UWB locating base station will send host computer to after the information processing after interacting message, and
Terminal location is calculated by host computer.This host computer positioning method realize it is more convenient, but there are positioning terminal quantity by
Limit and UWB localization message are easy to happen the problems such as collision causes information drop-out or dysmetria.And it is calculated using host computer
The method that positioning terminal is then forwarded to behind position, the delay that terminal obtains self-position is larger, cannot realize real-time well
High business.
Summary of the invention:
It is an object of the present invention to provide a kind of terminal positioning dispatching method based on UWB, is had using this dispatching method
Terminal quantity is unrestricted, and localization message does not conflict and the advantages that terminal perceived position strong real-time.
To achieve the above object, the present invention provides a kind of terminal positioning dispatching method based on UWB, comprising:
UWB locating base station part, UWB locating base station position are fixed, and two are continuously broadcasted with the fixed cycle in the designated time
Localization message includes the locating desired informations such as self-position, time, frequency shift (FS) in this two localization messages.
UWB positioning terminal part, for receiving the broadcast of UWB locating base station, and according to broadcasted content and broadcast arrival time
Stamp calculates self-position.
Before work, each UWB locating base station is sequentially allocated continuous number, wherein numbering two adjacent locating base stations
It must be able to be mutually located and communicate, if numbering the smallest locating base station is reference location base station.
The adjacent UWB locating base station i of the number and i+1 by record broadcast arrival time twice with and use TOF
Method measures distance d between the twoi,i+1, and according to formulaCalculating electromagnetic wave is between base station i and i+1 when flight
Between, wherein τi,i+1Indicate the electromagnetic wave flight time, c indicates the aerial spread speed of light.
Adjacent UWB locating base station i and i+1 is by calculating to the τ crossedi,i+1Realize time synchronization.
UWB locating base station is numbered according to itself with Fixed Time Interval TβBroadcast twice, the content of broadcast be self-position,
The location informations such as time and number, wherein TβFor fixed value.
The number adjacent UWB locating base station i and i+1, by receiving the interval to broadcast the message twice and TβRatio
Value obtains the frequency drift k of the twoi,i+1。
The UWB locating base station has frequency drift value k in broadcast messagei,i+1。
If selecting a certain UWB locating base station is reference base station, the frequency drift of j-th of UWB locating base station and reference base station
Shifting calculation method is kref,j=kref,xkx,x+1kx+1,x+2…kj-1,j。
The time point of UWB locating base station broadcast for the first time is obtained by following methods: the base station that number is i+1 receives volume
Number for i base station first time broadcast, and record the timestamp that receivesAnd calculate the broadcast for the first time of No. i-th base station
Sending timeThe first time broadcast transmission timestamp of i+1 base station isWherein T α
For fixed value.
The UWB positioning terminal acquires self-position using UWB locating base station broadcast message in the following manner:
(1) the UWB positioning terminal record receives the difference of the timestamp of two broadcast messages in the base station iAnd it calculates
The clock drift of terminal and the base station i out
(2) it setsDue to TαWith TβFor constant, so q is also constant.
(3) then label and the pseudorange of i-th of UWB locating base station are ri=c [TM,i,1-qkref,i(TM,i,2-TM,i,1)], wherein
TM,i,1、TM,i,2Respectively indicate the light that terminal receives the 1st time of i-th of UWB locating base station and the 2nd time is broadcasted, in c expression air
Speed, kref,iFor the clock frequency offset between locating base station i and reference base station.
(4) pseudorange of itself and multiple UWB locating base stations is obtained by calculation in terminal, and calculates end with these pseudorange values
Hold self-position.
Wherein, each UWB locating base station is broadcasted by the period of τ, and receiver is opened when terminal needs to position and receives UWB
The broadcast of locating base station closes receiver, and calculate itself after terminal receives the broadcast of all UWB locating base stations around
Position.
The present invention has the effect of following positive: using the terminal positioning dispatching method of the invention based on UWB, positioning disappears
Breath broadcasts localization message by UWB locating base station, and UWB positioning terminal is positioned after receiving and parsing through these localization messages, fixed
Label does not send localization message during position, while UWB locating base station sends localization message using time division way, this avoid
The collision possibility of localization message；In addition, there is no limit for positioning terminal quantity using positioning dispatching method of the present invention；Make
The method that positioning terminal is then forwarded to behind host computer calculating position, the delay that terminal obtains self-position is larger, cannot be very
Good realizes the constantly high business of property, and can calculate self-position using positioning dispatching method terminal of the present invention, can be with
The high business of real-time is realized in terminal, is such as navigated, path planning, automatic Pilot etc..
Detailed description of the invention:
Fig. 1 is the schematic diagram of the terminal positioning dispatching method of the invention based on UWB；
Fig. 2 is the specific embodiment schematic diagram of the terminal positioning dispatching method of the invention based on UWB.
Specific embodiment:
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be understood by those skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
A certain number of anchor nodes are disposed according to localizing environment and anchor node coverage area in the range of needing to position.This
In by taking 4 locating base stations are with 1 positioning terminal as an example.
It is continuously numbered as shown in Figure 1, each UWB locating base station is sequentially allocated, i.e., 1,2,3, No. 4 locating base stations,
Two adjacent locating base stations of middle number must be able to be mutually located and communicate, and wherein reference location base station is No. 1.
The adjacent UWB locating base station i and i+1 of the number measures distance d between the two by TOF method1,2、d2,3、
d3,4, then according to formulaCalculate electromagnetic wave flight time, i.e. τ between base station i and i+11,2、τ2,3、τ3,4。
Adjacent UWB locating base station is realized according to message arrival time and electromagnetic wave flight time between UWB locating base station
Time synchronization.
UWB locating base station is due to No. 1 using the frequency deviation of frequency offset calculation current base station and reference base station between base station simultaneously
Reference location base station, the frequency offset calculation method of the 2nd locating base station are k1,2, the frequency offset calculation method of the 3rd locating base station is
k1,3=k1,2k2,3, the frequency offset calculation method of the 4th locating base station is k1,4=k1,2k2,3k3,4。
After UWB locating base station synchronizes, two localization messages are successively broadcasted, the time interval of the 1st article of message between different base station
It is 2 milliseconds, is divided into 1 millisecond, i.e. T between two message of same locating base stationα=2ms, Tβ=1ms, q=2.
Positioning terminal record receives the arrival time stamp of base station location message, and calculates positioning eventually by the timestamp of record
Frequency deviation between end and reference location base station.
The pseudorange of positioning terminal and i-th of UWB locating base station is ri=c [TM,i,1-2k1,i(TM,i,2-TM,i,1)]。
Positioning terminal is by acquiring self-position coordinate to the pseudorange of different locating base stations and the coordinate of locating base station.
1,2,3,4 period of locating base station sends message, and the locating base station sent around locating base station uses these message
Realize the synchronization between locating base station, positioning terminal is acquired the pseudorange for itself arriving each locating base station using these message, then acquired
Self-position.
As shown in Fig. 2, i-1, i, i+1 are the number of UWB locating base station,Respectively No. (i-1)-th and No. i-th
Locating base station broadcasts the time point of a piece of news,Respectively No. i-th receives one with i+1 locating base station
The time point of locating base station broadcast, τi-1,i、τi,i+1Respectively between locating base station i-1 and i and between locating base station i and i+1
Flight time.TαFor the transmission interval of locating base station and previous locating base station broadcast for the first time, TβIt is locating base station for the first time with the
The transmission interval of secondary broadcast, TαWith TβFor fixed value.TM,i,1、TM,i,2Respectively positioning terminal receives No. i-th locating base station
The timestamp once broadcasted with second.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.
Claims (8)
1. a kind of terminal positioning dispatching method based on UWB characterized by comprising
UWB locating base station part, UWB locating base station position is fixed, for broadcasting locating desired information；
And UWB positioning terminal part, for receiving the broadcast of UWB locating base station, and according to broadcasted content and broadcast arrival time
Stamp calculates self-position.
2. the terminal positioning dispatching method according to claim 1 based on UWB, which is characterized in that the UWB locating base station
Localization message is broadcasted, realizes time synchronization between each UWB locating base station, while UWB positioning terminal is realized using these localization messages
Positioning；
The UWB positioning terminal does not send and only receives the localization message that locating base station is sent.
3. the terminal positioning dispatching method according to claim 2 based on UWB, which is characterized in that the UWB locating base station
With multiple, each UWB locating base station is sequentially allocated continuous number, wherein numbering two adjacent locating base stations can be mutual
It positions and communicates, if numbering the smallest locating base station is reference location base station.
4. the terminal positioning dispatching method according to claim 3 based on UWB, which is characterized in that the number is adjacent
UWB locating base station i and i+1 measures distance d between the two by TOF methodi,i+1, and according to formulaCalculate electromagnetism
Wave flight time between base station i and i+1, wherein τi,i+1Indicate the electromagnetic wave flight time, c indicates the aerial propagation speed of light
Degree, adjacent UWB locating base station i and i+1 is by the τ that is calculatedi,i+1Realize time synchronization.
5. the terminal positioning dispatching method according to claim 1 or 2 or 3 or 4 based on UWB, which is characterized in that UWB is fixed
It is numbered according to itself with Fixed Time Interval T position base stationβTwice, the content of broadcast is self-position, time and number for broadcast
Location information, wherein TβFor fixed value, the number adjacent UWB locating base station i and i+1 are disappeared by receiving broadcast twice
The interval of breath and TβThe frequency drift k that both obtains of ratioi,i+1, the UWB locating base station is in broadcast message with frequency
Drift value ki,i+1If selecting a certain UWB locating base station is reference base station, the frequency of j-th UWB locating base station and reference base station
Drift calculation method is kref,j=kref,xkx,x+1kx+1,x+2…kj-1,j。
6. the terminal positioning dispatching method according to claim 5 based on UWB, which is characterized in that the UWB locating base station
The time point of broadcast is obtained by following methods for the first time: the first time that the base station that number is i+1 receives the base station that number is i is wide
It broadcasts, and records the timestamp receivedAnd calculate the sending time of No. i-th base station broadcast for the first time
The first time broadcast transmission timestamp of i+1 base station isWherein TαFor fixed value.
7. the terminal positioning dispatching method according to claim 5 based on UWB, which is characterized in that the UWB positioning terminal
Self-position is acquired using UWB locating base station broadcast message in the following manner:
(1) the UWB positioning terminal record receives the difference of the timestamp of two broadcast messages in the base station iAnd calculate UWB
The clock drift of positioning terminal and the base station i
(2) it setsDue to TαWith TβFor constant, so q is also constant；
(3) then label and the pseudorange of i-th of UWB locating base station are ri=c [TM,i,1-qkref,i(TM,i,2-TM,i,1)], wherein
TM,i,1、TM,i,2It respectively indicates UWB positioning terminal to receive the first time of i-th of UWB locating base station and broadcast for the second time, c indicates empty
The light velocity in gas, kref,iFor locating base station i and with reference to the clock frequency offset between UWB locating base station；
(4) pseudorange of itself and multiple UWB locating base stations is obtained by calculation in UWB positioning terminal, and is calculated with these pseudorange values
UWB positioning terminal self-position out.
8. the terminal positioning dispatching method according to claim 7 based on UWB, which is characterized in that each UWB locating base station
It is broadcasted by the period of τ, the broadcast that receiver receives UWB locating base station is opened when UWB positioning terminal needs to position, works as UWB
After positioning terminal receives the broadcast of all UWB locating base stations around, receiver is closed, and calculate self-position.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315439.6A CN109889987B (en) | 2019-04-19 | 2019-04-19 | Terminal positioning and scheduling method based on UWB |
| PCT/CN2019/084892 WO2020211119A1 (en) | 2019-04-19 | 2019-04-29 | Uwb-based terminal positioning scheduling method |
| ZA2021/03972A ZA202103972B (en) | 2019-04-19 | 2021-06-09 | Uwb-based terminal positioning scheduling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315439.6A CN109889987B (en) | 2019-04-19 | 2019-04-19 | Terminal positioning and scheduling method based on UWB |
Publications (2)
| Publication Number | Publication Date |
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| CN109889987A true CN109889987A (en) | 2019-06-14 |
| CN109889987B CN109889987B (en) | 2020-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910315439.6A Active CN109889987B (en) | 2019-04-19 | 2019-04-19 | Terminal positioning and scheduling method based on UWB |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN109889987B (en) |
| WO (1) | WO2020211119A1 (en) |
| ZA (1) | ZA202103972B (en) |
Cited By (3)
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| CN110228506A (en) * | 2019-06-28 | 2019-09-13 | 湖南磁浮交通发展股份有限公司 | A kind of medium-and low-speed maglev train positioning-speed-measuring method and system based on wireless base station technology |
| CN112087718A (en) * | 2020-08-26 | 2020-12-15 | 电子科技大学 | Broadcast type multi-mobile-robot dynamic virtual interaction method based on UWB positioning |
| CN113630867A (en) * | 2020-05-06 | 2021-11-09 | 清研讯科（北京）科技有限公司 | Wireless frame communication method and system, and wireless positioning method and system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4096313A1 (en) | 2021-05-28 | 2022-11-30 | Nxp B.V. | Mobile device frequency offset determination and tdoa localization |
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2019
- 2019-04-19 CN CN201910315439.6A patent/CN109889987B/en active Active
- 2019-04-29 WO PCT/CN2019/084892 patent/WO2020211119A1/en active Application Filing
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- 2021-06-09 ZA ZA2021/03972A patent/ZA202103972B/en unknown
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| CN110228506A (en) * | 2019-06-28 | 2019-09-13 | 湖南磁浮交通发展股份有限公司 | A kind of medium-and low-speed maglev train positioning-speed-measuring method and system based on wireless base station technology |
| CN113630867A (en) * | 2020-05-06 | 2021-11-09 | 清研讯科（北京）科技有限公司 | Wireless frame communication method and system, and wireless positioning method and system |
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| CN112087718B (en) * | 2020-08-26 | 2021-07-13 | 电子科技大学 | Broadcast type multi-mobile-robot dynamic virtual interaction method based on UWB positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA202103972B (en) | 2021-07-28 |
| CN109889987B (en) | 2020-04-24 |
| WO2020211119A1 (en) | 2020-10-22 |
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