CN109889987B - Terminal positioning and scheduling method based on UWB - Google Patents
Terminal positioning and scheduling method based on UWB Download PDFInfo
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- CN109889987B CN109889987B CN201910315439.6A CN201910315439A CN109889987B CN 109889987 B CN109889987 B CN 109889987B CN 201910315439 A CN201910315439 A CN 201910315439A CN 109889987 B CN109889987 B CN 109889987B
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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
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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
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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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
Abstract
The invention relates to a terminal positioning and scheduling method based on UWB, which comprises the following steps: the UWB positioning base station part is fixed in position and used for broadcasting the information required by positioning; and a UWB positioning terminal part for receiving the UWB positioning base station broadcast and calculating the self position according to the broadcast content and the broadcast arrival time stamp. The terminal can calculate the position of the terminal by using the positioning and scheduling method, and can realize high-real-time services such as navigation, path planning, automatic driving and the like on the terminal.
Description
The technical field is as follows:
the invention relates to the field of communication technology and wireless positioning, in particular to an ultra-wideband positioning system and an ultra-wideband terminal positioning and scheduling method based on UWB, wherein a UWB positioning base station provides positioning service, and a UWB positioning terminal calculates the position of the UWB positioning terminal.
Background art:
in the current UWB positioning system, the terminal position is usually solved in a server, that is, after the UWB positioning base station performs message interaction with the UWB positioning terminal, the UWB positioning base station processes the information after the message interaction and transmits the processed information to an upper computer, and the upper computer calculates the terminal position. The upper computer positioning mode is convenient to realize, but has the problems of limited number of positioning terminals, easy collision of UWB positioning information, information loss or inaccurate distance measurement and the like. Moreover, by using the method of calculating the position by the upper computer and then sending the position to the positioning terminal, the terminal obtains a longer time delay of the position of the terminal, and cannot well realize a service with high real-time performance.
The invention content is as follows:
the invention aims to provide a terminal positioning and scheduling method based on UWB, and the scheduling method has the advantages of unlimited terminal quantity, no conflict of positioning information, strong real-time performance of terminal perception position and the like.
In order to achieve the above object, the present invention provides a UWB-based terminal location scheduling method, including:
the UWB positioning base station part is fixed in position, continuously broadcasts two positioning messages in a fixed period at appointed time, and the two positioning messages contain positioning required information such as self position, time, frequency offset and the like.
And the UWB positioning terminal part is used for receiving the UWB positioning base station broadcast and calculating the position of the UWB positioning base station according to the broadcast content and the broadcast arrival time stamp.
Before working, each UWB positioning base station is distributed with continuous numbers in sequence, wherein two positioning base stations adjacent to the numbers must be capable of positioning and communicating with each other, and the positioning base station with the minimum number is set as a reference positioning base station.
The UWB positioning base stations i and i +1 adjacent in number are used for measuring the distance d between the UWB positioning base stations i and i +1 by recording the arrival time of two times of broadcasting and using a TOF methodi,i+1According to the formula
Calculating the flight time of the electromagnetic wave between the base stations i and i +1, wherein taui,i+1Represents the electromagnetic wave flight time, and c represents the propagation speed of light in the air.
Calculated tau of adjacent UWB positioning base station i and i +1i,i+1Time synchronization is achieved.
UWB positioning base station according to self number with fixed time interval TβBroadcasting twice, wherein the broadcast content is positioning information such as self position, time, number and the like, TβIs a fixed value.
The UWB positioning base stations i and i +1 adjacent in number pass through the interval of receiving two broadcast messages and TβThe ratio of (A) to (B) yields the frequency drift k of bothi,i+1。
The UWB positioning base station carries a frequency drift value k in a broadcast messagei,i+1。
If a certain UWB positioning base station is selected as a parameterIf the base station is examined, the frequency drift calculation method of the jth UWB positioning base station and the reference base station is kref,j＝kref,xkx,x+1kx+1,x+2…kj-1,j。
The time point of the first broadcast of the UWB positioning base station is obtained by the following method: the base station numbered i +1 receives the first broadcast of the base station numbered i and records the received time stamp
And calculates the first broadcast sending time of the ith base station
The first broadcast transmission timestamp of the (i + 1) th base station is
Where T α is a fixed value.
The UWB positioning terminal utilizes UWB positioning base station broadcast information to obtain the position of the UWB positioning terminal by the following modes:
(1) the UWB positioning terminal records the difference between the time stamps of two broadcast messages received by the i-number base station
And calculates the clock drift of the terminal and the base station I
(2) Is provided with
Due to TαAnd TβIs constant, so q is also constant.
(3) The pseudo range of the tag to the ith UWB positioning base station is ri＝c[TM,i,1-qkref,i(TM,i,2-TM,i,1)]Wherein T isM,i,1、TM,i,2Respectively indicating that the terminal receives the 1 st and 2 nd broadcasts of the ith UWB positioning base station, c indicates the speed of light in the air, and kref,iTo locate the clock frequency offset between base station i and the reference base station.
(4) The terminal obtains pseudo ranges of the terminal and a plurality of UWB positioning base stations through calculation, and calculates the position of the terminal by using the pseudo range values.
Each UWB positioning base station broadcasts in a period of tau, the receiver is turned on to receive the broadcast of the UWB positioning base station when the terminal needs to be positioned, and the receiver is turned off after the terminal receives the broadcasts of all the UWB positioning base stations around, and the position of the terminal is calculated.
The invention has the following positive effects: by using the UWB-based terminal positioning scheduling method, the positioning messages are broadcasted through the UWB positioning base station, the UWB positioning terminal receives and analyzes the positioning messages and then performs positioning, the labels do not send the positioning messages in the positioning process, and meanwhile, the UWB positioning base station sends the positioning messages in a time division mode, so that the possibility of collision of the positioning messages is avoided; in addition, the positioning scheduling method of the invention has no limit on the number of positioning terminals; the method of sending the position to the positioning terminal after the position is calculated by the upper computer is used, the terminal obtains the service with longer time delay of the position of the terminal and cannot well realize the service with high real-time property, and the terminal can calculate the position of the terminal by using the positioning scheduling method of the invention and can realize the service with high real-time property, such as navigation, path planning, automatic driving and the like, at the terminal.
Description of the drawings:
FIG. 1 is a schematic diagram of a UWB-based terminal location scheduling method of the present invention;
fig. 2 is a schematic diagram of a UWB-based terminal location scheduling method according to an embodiment of the present invention.
The specific implementation mode is as follows:
the following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention more readily understood by those skilled in the art, and thus will more clearly and distinctly define the scope of the invention.
And deploying a certain number of anchor nodes in a range needing positioning according to the positioning environment and the coverage range of the anchor nodes. Here, 4 positioning base stations and 1 positioning terminal are taken as examples.
As shown in fig. 1, each UWB positioning base station is assigned with consecutive numbers, i.e., positioning base stations No. 1, 2, 3, 4, wherein two positioning base stations adjacent to each other in the number must be able to position and communicate with each other, and wherein the reference positioning base station is the positioning base station No. 1.
The distance d between the UWB positioning base stations i and i +1 adjacent in number is measured by a TOF method1,2、d2,3、d3,4Then according to the formula
Calculating the time of flight of the electromagnetic wave between base stations i and i +1, i.e. tau1,2、τ2,3、τ3,4。
And the adjacent UWB positioning base stations realize time synchronization among the UWB positioning base stations according to the message arrival time and the electromagnetic wave flight time.
Meanwhile, the UWB positioning base station calculates the frequency offset between the current base station and the reference base station by using the frequency offset between the base stations, and since the No. 1 is the reference positioning base station, the frequency offset calculation method of the 2 nd positioning base station is k1,2The frequency offset calculation method of the 3 rd positioning base station is k1,3＝k1,2k2,3The frequency offset calculation method of the 4 th positioning base station is k1,4＝k1,2k2,3k3,4。
After the UWB positioning base station is synchronized, two positioning messages are broadcast in sequence, the time interval of the 1 st message between different base stations is 2 milliseconds, and the interval of the two messages of the same positioning base station is 1 millisecond, namely Tα＝2ms，Tβ＝1ms，q＝2。
The positioning terminal records the arrival time stamp of the positioning message of the received base station, and calculates the frequency offset between the positioning terminal and the reference positioning base station according to the recorded time stamp.
The pseudo range of the positioning terminal and the ith UWB positioning base station is ri＝c[TM,i,1-2k1,i(TM,i,2-TM,i,1)]。
And the positioning terminal obtains the position coordinates of the positioning terminal through the pseudo ranges to different positioning base stations and the coordinates of the positioning base stations.
The positioning base stations 1, 2, 3 and 4 periodically send messages, the positioning base stations around the positioning base stations send the messages to realize synchronization among the positioning base stations, and the positioning terminal uses the messages to obtain pseudo ranges from the positioning terminal to the positioning base stations and then obtain the position of the positioning terminal.
As shown in fig. 2, i-1, i, i +1 are the UWB positioning base station numbers,
the time points of broadcasting the first message for the positioning base stations of the i-1 th and the i-th numbers respectively,
time points tau of receiving the broadcast of the last positioning base station for the ith and the (i + 1) th positioning base stations respectivelyi-1,i、τi,i+1Respectively, the time of flight between the positioning base stations i-1 and i and between the positioning base stations i and i + 1. T isαFor the first broadcast transmission interval, T, between a positioning base station and a preceding positioning base stationβFor locating the transmission interval, T, between the first and second broadcasts of a base stationαAnd TβIs a fixed value. T isM,i,1、TM,i,2And respectively receiving the time stamps of the first broadcast and the second broadcast of the ith positioning base station for the positioning terminal.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (6)
1. A terminal positioning and scheduling method based on UWB is characterized by comprising the following steps:
UWB positioning base station part, UWB positioning base station position is fixed, used for broadcasting positioning required information, UWB positioning base station is according to self serial number with fixed time interval TβBroadcast twice, the broadcast content is the positioning information of self position, time and number, itMiddle TβThe UWB positioning base stations i and i +1 which are adjacent in number are fixed values, and the interval and T between two broadcast messages are obtained through receivingβThe ratio of (A) to (B) yields the frequency drift k of bothi,i+1Said UWB positioning base station having a frequency drift value k in a broadcast messagei,i+1If a certain UWB positioning base station is selected as a reference base station, the frequency drift calculation method of the jth UWB positioning base station and the reference base station is kref,j＝kref,xkx,x+1kx+1,x+2…kj-1,jWherein kref, x is the frequency drift between base station x and clock reference base station ref;
and a UWB positioning terminal part used for receiving the broadcast of the UWB positioning base station and calculating the self position according to the broadcast content and the broadcast arrival time stamp, wherein the UWB positioning terminal calculates the self position by using the broadcast message of the UWB positioning base station in the following modes:
(1) the UWB positioning terminal records the difference between the time stamps of two broadcast messages received by the i-number base station
And calculating the clock drift of the UWB positioning terminal and the i-number base station
(2) Is provided with
Due to TαAnd TβIs constant, so q is also constant;
(3) the pseudo range of the tag to the ith UWB positioning base station is ri＝c[TM,i,1-qkref,i(TM,i,2-TM,i,1)]Wherein T isM,i,1、TM,i,2Respectively indicating that the UWB positioning terminal receives the first time and the second time of broadcast of the ith UWB positioning base station, c indicates the speed of light in the air, and kref,iLocating a clock frequency offset between the base station i and the reference UWB;
(4) the UWB positioning terminal obtains pseudo ranges of the UWB positioning terminal and the plurality of UWB positioning base stations through calculation, and calculates the position of the UWB positioning terminal by using the pseudo range values.
2. The UWB-based terminal positioning scheduling method of claim 1 wherein the UWB positioning base station broadcasts positioning messages to realize time synchronization among UWB positioning base stations, and simultaneously UWB positioning terminals use the positioning messages to realize positioning;
the UWB positioning terminal does not send positioning messages which are only sent by the positioning base station.
3. The UWB-based terminal positioning scheduling method according to claim 2, wherein the UWB positioning base stations have a plurality, each UWB positioning base station sequentially assigns consecutive numbers, wherein two positioning base stations adjacent to each other in the number can perform positioning and communication with each other, and the positioning base station with the smallest number is set as the reference positioning base station.
4. The UWB-based terminal positioning scheduling method of claim 3 wherein the distance d between the numbered adjacent UWB positioning base stations i and i +1 is measured by TOF methodi,i+1According to the formula
Calculating the flight time of the electromagnetic wave between the base stations i and i +1, wherein taui,i+1Represents the flight time of electromagnetic waves, c represents the propagation speed of light in the air, and adjacent UWB positioning base stations i and i +1 obtain tau through calculationi,i+1Time synchronization is achieved.
5. The UWB-based terminal location scheduling method of claim 1, wherein the time point of the first broadcast of the UWB location base station is obtained by: the base station numbered i +1 receives the first broadcast of the base station numbered i and records the received time stamp
And calculates the first broadcast sending time of the ith base station
The first broadcast transmission timestamp of the (i + 1) th base station is
Wherein T isαIs a fixed value.
6. The UWB-based terminal positioning scheduling method of claim 1 wherein each UWB positioning base station broadcasts with τ as a period, the UWB positioning terminal turns on a receiver to receive the UWB positioning base station broadcast when needing positioning, and turns off the receiver and calculates its own position after the UWB positioning terminal receives all surrounding UWB positioning base station broadcasts.
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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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 |
| 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 |
| EP4096313A1 (en) | 2021-05-28 | 2022-11-30 | Nxp B.V. | Mobile device frequency offset determination and tdoa localization |
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| CN105548962A (en) * | 2015-12-21 | 2016-05-04 | 李奇 | Wireless range finding positioning method under asynchronous base station system and system thereof |
| CN106556853A (en) * | 2015-09-28 | 2017-04-05 | 大唐半导体设计有限公司 | A kind of multimode Differential positioning method and system |
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| EP3171193A1 (en) * | 2015-11-18 | 2017-05-24 | The Swatch Group Research and Development Ltd. | Method for locating a beacon |
| CN105682221B (en) * | 2016-02-17 | 2019-03-08 | 郑州联睿电子科技有限公司 | Passive type positioning system and localization method based on ultra wide band |
| US10064148B2 (en) * | 2017-01-20 | 2018-08-28 | M2 Robots, Inc. | Ultra-wide band positioning system |
| CN108024329A (en) * | 2017-12-13 | 2018-05-11 | 深圳市中舟智能科技有限公司 | A kind of more base station extended methods self-positioning based on UWB labels and equipment |
| CN109640268B (en) * | 2018-12-14 | 2020-12-25 | 长沙智能机器人研究院有限公司 | Networking method of ultra-wideband wireless communication indoor positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556853A (en) * | 2015-09-28 | 2017-04-05 | 大唐半导体设计有限公司 | A kind of multimode Differential positioning method and system |
| CN105548962A (en) * | 2015-12-21 | 2016-05-04 | 李奇 | Wireless range finding positioning method under asynchronous base station system and system thereof |
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| ZA202103972B (en) | 2021-07-28 |
| CN109889987A (en) | 2019-06-14 |
| WO2020211119A1 (en) | 2020-10-22 |
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