CN109946645B - Positioning system based on ultra wide band UWB - Google Patents
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Abstract
The invention discloses a positioning system based on ultra-wideband UWB, which comprises a positioning base station, a positioning engine and a positioning base station, wherein the positioning base station is used for receiving a terminal positioning signal sent by a positioning terminal, acquiring a terminal number from the terminal positioning signal, acquiring the positioning engine corresponding to the terminal number and sending the terminal positioning signal to the positioning engine; the positioning engines are used for receiving terminal positioning signals distributed by the positioning base station, processing the terminal positioning signals and sending position information corresponding to the positioning terminals to the middleware; the middleware is used for forwarding the received position information to a corresponding calculation engine group according to the subscription information; and one of the calculation engine groups comprises a plurality of calculation engine units which independently perform single-service data calculation and are used for performing fence calculation, video area calculation, aggregation/outlier calculation, disappearance/retention calculation and threshold calculation on the position information, and transmitting the processed position information to a display terminal for displaying.
Description
Technical Field
The invention relates to the field of communication, in particular to a positioning system based on ultra wide band (ultra wideband).
Background
The UWB (ULTRA wide band) has the advantages of strong anti-interference performance, high transmission rate, extremely wide bandwidth, small power consumption, small transmission power, and the like, and is distinct from numerous infinite positioning technologies, and becomes one of candidate technologies. The UWB (ULTRA WIDEBAND UWB) positioning system consists of a positioning terminal, a positioning base station and a positioning engine. The terminal regularly transmits active positioning signals to the periphery, each base station transmits the received information such as signal strength, time and the like to a calculation engine for processing, and finally the position information of the terminal is output.
In practical application scenarios, UWB (ULTRA WIDEBAND) positioning systems have certain disadvantages: the positioning frequency is too low, so that the positioning point jumps at the display end, and the positioning effect is not ideal; and a large amount of position data can appear when the positioning frequency is too fast, the processing capacity of the calculation engine is limited, a certain transmission delay exists in the process that the positioning terminal is transmitted to the base station and then the base station forwards the position data to the calculation engine, and the delay of the output position data can be increased after the calculation engine is subjected to calculation processing. Resulting in positioning inaccuracies which are unacceptable for real-time indoor positioning. In view of the above, research and analysis aiming at the above problems have resulted in the present invention.
Disclosure of Invention
The embodiment of the invention provides a positioning system based on ultra wide band UWB (ultra wideband), which is used for solving the problem of time delay in positioning a terminal in the prior art.
The embodiment of the invention provides a positioning system based on ultra wide band UWB (ultra wideband), comprising: the positioning base station is communicated with other positioning base stations through a long connection network of a TRANSMISSION CONTROL PROTOCOL (TCP), and is used for receiving terminal positioning signals sent by the positioning terminal, acquiring terminal numbers from the terminal positioning signals, acquiring positioning engines corresponding to the terminal numbers and sending the terminal positioning signals to the positioning engines;
the positioning engines are used for respectively receiving terminal positioning signals distributed by the positioning base station, processing the terminal positioning signals and sending position information corresponding to the positioning terminals to the middleware;
the middleware is used for forwarding the received position information to the corresponding calculation engine group according to the subscription information of the calculation engine group;
and one of the calculation engine groups comprises a plurality of calculation engine units which independently perform single-service data calculation and are used for performing fence calculation, video area calculation, aggregation/outlier calculation, disappearance/detention calculation and threshold calculation on the position information, and transmitting the processed position information to a display terminal for displaying.
Preferably, the positioning base station is specifically configured to:
and calculating the hash value of the terminal number according to the terminal number of the positioning terminal, and determining a positioning engine corresponding to the terminal number according to the division of the hash value.
Preferably, the positioning base station is specifically configured to:
the positioning engines are respectively connected with the positioning system through a long connection network of TCP (Transmission CONTROL PROTOCOL).
Preferably, the middleware is one and is connected with a plurality of positioning engines, or the middleware is a plurality of and is respectively connected with one positioning engine.
Preferably, the calculation engine unit specifically includes: one or more fence calculation engines that perform fence calculations, one or more video area calculation engines that perform video area calculations, one aggregation/outlier calculation engine that performs aggregation/outlier calculations, one or more disappearance/retention calculation engines that perform disappearance/retention calculations, and one or more threshold calculation engines that perform threshold calculations.
Preferably, the calculation engine unit is specifically configured to:
the method comprises the steps of obtaining a terminal number from position information, obtaining a fence calculation engine corresponding to the terminal number, sending a positioning signal of the same terminal to the same fence calculation engine, a video area calculation engine, a gathering/clustering calculation engine, a disappearance/detention calculation engine and a threshold calculation engine through different message pushing modes of an intermediate layer.
Preferably, the UWB (ULTRA wide band) based positioning system further comprises:
and the database is connected with the calculation engine group and used for storing the position related information of each terminal and providing data access service for the calculation engine unit.
Preferably, the database comprises in particular:
the cache modules are deployed in groups according to the calculation engine units, are used for caching the position related information of the terminal and provide data access service for the calculation engine units;
and the storage module is connected with the plurality of cache modules and is used for finally storing the position related information of each terminal.
By adopting the embodiment of the invention, the invention focuses on carrying out service splitting and data shunting on the two modules of the positioning engine and the calculation engine; the middleware technology supporting grouping, partitioning and subscribing consumption modes is directly introduced into a computing engine, so that the system performance can be greatly improved in the actual scene use, and the data delay is reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is an overall frame diagram of an ultra wideband UWB (ultra wideband) based positioning system provided by an embodiment of the invention;
fig. 2 is a schematic diagram of a processing method for vertical expansion at a producer end of a positioning system based on ultra wideband uwb (ultra wideband);
fig. 3 is a diagram of a consumer deployment of an ultra wideband uwb (ultra wideband) based positioning system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In the practical application scenario of the invention, the consumer needs to process two links for data: firstly, the data is directly forwarded to a display end; and secondly, further processing the data, outputting the processed data and transmitting the processed data to a display terminal. When data is forwarded, the data is quickly forwarded through a message middleware technology, the data delay is small, and the delay generated in the data delay period is caused by a producer, so that the problem that the delay problem of the producer needs to be solved, and a consumer can have the same problem as the producer when processing the data. In order to solve the problem, the solution provided by the invention can improve the throughput of the position data and the delay problem of large concurrency.
Among the ways to solve the above problems of the system, there are two main methodologies: vertical expansion and horizontal expansion.
Vertical expansion: and the single machine processing capacity is improved. The vertical expansion mode has two modes, one is to enhance the hardware performance of the single computer, and the other is to improve the architecture performance of the single computer. The invention emphasizes and improves the single machine architecture performance mainly under the condition of certain single machine hardware conditions in a vertical expansion mode.
According to an embodiment of the present invention, there is provided an ultra wideband uwb (ultra wideband) based positioning system, fig. 1 is an overall framework diagram of an ultra wideband uwb (ultra wideband) based positioning system according to an embodiment of the present invention, as shown in fig. 1, the ultra wideband uwb (ultra wideband) based positioning system according to an embodiment of the present invention specifically includes:
The positioning base station 10 communicates with other positioning base stations 10 through a TCP (TRANSMISSION CONTROL PROTOCOL) long connection network, and is connected to the plurality of positioning engines 12 through the TCP (TRANSMISSION CONTROL PROTOCOL) long connection network. The positioning engine 12 is used for receiving a terminal positioning signal sent by a positioning terminal, acquiring a terminal number from the terminal positioning signal, acquiring the positioning engine 12 corresponding to the terminal number, and sending the terminal positioning signal to the positioning engine 12;
the positioning base station 10 is specifically configured to:
and calculating a hash value of the terminal number according to the terminal number of the positioning terminal, and determining the positioning engine 12 corresponding to the terminal number according to the division of the hash value.
The terminal periodically transmits active positioning signals to the periphery, each positioning base station 10 transmits the received signal strength, time and other information to a calculation engine for processing, and finally, the position information of the terminal is output.
A plurality of positioning engines 12, configured to receive terminal positioning signals distributed by the positioning base station 10, process the terminal positioning signals, and send position information corresponding to positioning terminals to the middleware 14;
the positioning engine 12 for generating accurate position data at present needs to receive signal data from at least 3 different positioning base stations 10, and redundant data is filtered. Therefore, when the positioning engine 12 performs single deployment and a single positioning terminal transmits positioning information, the positioning engine 12 actually needs to wait and calculate at least 3 pieces of forwarded positioning information through forwarding of each base station, and then actual position information of the terminal can be finally generated;
The middleware 14 is configured to forward the received location information to the corresponding computing engine group 16 according to the subscription information of the computing engine group 16;
and a plurality of calculation engine groups 16, wherein one calculation engine group 16 includes a plurality of calculation engine units for independently performing single service data calculation, and is configured to perform fence calculation, video area calculation, aggregation/outlier calculation, disappearance/retention calculation, and threshold calculation on the location information, and send the processed location information to a display terminal for display.
Preferably, there is one middleware 14 connected to a plurality of positioning engines 12, or there are a plurality of middleware 14 connected to one positioning engine 12, respectively.
Preferably, the calculation engine unit specifically includes: one or more fence calculation engines that perform fence calculations, one or more video area calculation engines that perform video area calculations, one aggregation/outlier calculation engine that performs aggregation/outlier calculations, one or more disappearance/retention calculation engines that perform disappearance/retention calculations, and one or more threshold calculation engines that perform threshold calculations.
Preferably, the calculation engine unit is specifically configured to:
the method comprises the steps of obtaining a terminal number from position information, obtaining a fence calculation engine corresponding to the terminal number, sending a positioning signal of the same terminal to the same fence calculation engine, a video area calculation engine, a gathering/clustering calculation engine, a disappearance/detention calculation engine and a threshold calculation engine through different message pushing modes of an intermediate layer.
Preferably, the UWB (ULTRA wide band) -based positioning system further includes:
and the database is connected with the calculation engine group 16 and is used for storing the position related information of each terminal and providing data access service for the calculation engine unit.
Preferably, the database comprises in particular:
the cache modules are deployed in groups according to the calculation engine units, are used for caching the position related information of the terminal and provide data access service for the calculation engine units;
and the storage module is connected with the plurality of cache modules and is used for finally storing the position related information of each terminal.
The embodiment of the invention provides a positioning system based on Ultra Wide Band (UWB) (ultra wideband), and the specific implementation method of the invention mainly improves the performance of a single machine architecture in a vertical expansion mode, carries out horizontal expansion of each layer of architecture in a horizontal expansion mode, a producer end utilizes a positioning engine 12 to transversely deploy more and a positioning base station 10 to shunt data, and a consumer end utilizes a computing engine and a middleware 14 to deploy more and a cache mechanism of the computing engine, thereby greatly improving the system performance and reducing the data delay. At the producer end, a positioning signal transmitted by a positioning terminal can be received by n surrounding positioning base stations 10, and the positioning base stations 10 are only responsible for rapidly forwarding the received signal to the positioning engine 12, and are subjected to calculation processing by the positioning engine 12, and output one and only one (x, y, z) position data. The positioning terminal has the randomness of movement, an arbitrary moving track can cross a plurality of positioning base stations 10 and be captured by the nearby positioning base stations 10, and finally the positioning base stations 10 forward the captured information to the positioning engine 12 for processing. The positioning engine 12 for generating accurate position data at present needs to receive signal data from at least 3 different positioning base stations 10, and redundant data is filtered. Therefore, when the positioning engine 12 performs single deployment and a single positioning terminal transmits positioning information, the positioning engine 12 actually needs to wait and calculate at least 3 pieces of forwarded positioning information through forwarding of each positioning base station 10, so as to finally generate actual position information of the terminal. The producer end has no requirement on the persistence of the data, but has higher requirements on the real-time performance and the high efficiency of the data.
Horizontal expansion: positioning engine 12 is deployed horizontally; the throughput of a single positioning engine 12 is limited when the hardware conditions are fixed and the delay can be controlled within a certain range. In the horizontal expansion direction, the capacity of a single machine can be improved only by the multi-deployment of the positioning engine 12. When multiple horizontal deployments are required, the problem of data flow is encountered, and the positioning information generated by the positioning terminal needs to be completely transmitted to the same positioning engine 12 by multiple positioning base stations 10 for processing; and the position data of a single terminal can only be output at one time, no matter how many positioning engines 12 are deployed. Because the terminal has the characteristic of mobile randomness, the positioning base station 10 cannot be simply bound with the positioning engine 12 one by one, for example: the positioning base station 10A, B and the positioning base station 10C, D belong to two different positioning base stations 10, and when the positioning terminal moves into the receiving range of the 4 positioning base stations 10, the positioning base stations 10 will receive two pieces of position information, and at this time, neither of the two positioning base stations 10 can output the actual position of the terminal.
Vertical expansion: positioning base station 10 data distribution; when the positioning engine 12 is deployed horizontally, it is faced with the situation of data crossing, and then we need to perform data splitting in the vertical direction on the single positioning base station 10. The positioning base stations 10 and the positioning engines 12 directly use TCP (TRANSMISSION CONTROL PROTOCOL) long connection network communication, when the positioning base stations 10 are deployed singly, all the positioning base stations 10 are directly connected to the positioning engines 12, and finally, data flows to the engines.
When the positioning engine 12 is deployed, the method for ensuring that the data of the positioning terminal can flow to the same positioning base station 10 accurately via multiple positioning base stations 10 is as follows:
firstly, all the positioning base stations 10 need to maintain long connection with n positioning base stations 10 by TCP (TRANSMISSION CONTROL PROTOCOL);
secondly, when the positioning base station 10 receives the positioning data, the terminal number of the data is looked at one glance, then the hash value of the data is calculated according to the terminal number, and a value is obtained through modulo operation according to the hash value percent, wherein the value corresponds to the positioning engine 12 one by one;
finally, the corresponding positioning engine 12 is obtained from the value and the data is forwarded to this engine as is.
The data processed by the method has better balance, can distribute the data to each positioning engine 12 more uniformly, can determine the deployment number of the positioning engines 12 and the hash calculation mode of data distribution according to the actual situation in use, can be flexibly configured, and can exert the calculation performance to the maximum extent.
The consumer side includes two parts, a compute engine and a show side. The display end is simple consumption data and displays the position data in a two-dimensional/three-dimensional system, and the performance bottleneck of the display end is in the aspect of image rendering, which will not be discussed; and the calculation engine can calculate the entrance and exit, aggregation, dispersion and the like of the electronic fence according to the position data, and sends the calculation result to the foreground display end. In practical application, the computing engine is crucial to an application system in terms of the speed of computing the processing capacity, and has high requirements on real-time performance, reliability and efficiency. The computational load of the computational engine far exceeds it with respect to the positioning engine 12, and we will also present specific solutions extending both horizontally and vertically.
Horizontal expansion: compute engine lateral multi-deployment and multi-deployment of middleware 14; in the horizontal expansion direction, firstly, the horizontal splitting of the business is carried out on the computing engine. The calculation engine needs to calculate the operation processing tasks of different services such as area access, video area, aggregation and outlier, and the single position data may be sent out after the operation processing of the whole service. Therefore, the business is split, the single computing engine can independently perform the operation of single business data, the business of the computing engines is not interfered with each other, and the system performance can be greatly improved. After the business split is completed, the single-business computing engines are grouped, and a set of computing engines with full business is called a computing engine group 16.
Since the engine processing power of positioning is much greater than that of a compute engine, a single positioning engine 12 requires multiple compute engine sets 16 to adapt when positioning engines 12 are deployed in multiple. Unlike the positioning engine 12, the computing engine requires slightly lower real-time performance and requires continuity and integrity of data, so that a middleware 14 module needs to be deployed between the positioning engine 12 and the computing engine group 16 for fast data forwarding, data routing and data persistence. The deployment of the middleware 14 depends on the specific performance pressure situation, and can be singly deployed or deployed by multiple middleware 14. As shown in fig. 3, when the message middleware 14 is deployed more, the middleware 14 corresponds to the positioning engine 12 groups one by one, and after the back end passes through the data routing, the data is sent to different channels and transmitted to the calculation engine. When the middleware 14 is deployed singly (dotted line portion), the positioning base stations 10 of all the positioning engines 12 flow to the middleware 14, and then the middleware 14 distributes data to different calculation engine groups 16.
Vertical expansion: partitioning and grouping of data streams and cache caching mechanisms of computing engines; when the computing engine group 16 is deployed in multiple/single mode, each computing unit in the group needs the full amount of data; the message middleware 14 layer needs to send all data to each unit completely through a data channel, and here, data transmission is carried out in a subscription-broadcast push mode; each computing unit is a subscription group, the computing units subscribe to messages, and then the middleware 14 immediately sends real-time data to the group of channels (historical data is not pushed).
Almost every location data requires computation processing by a fence computation engine, which can be deployed horizontally in the same computation engine group 16 (other engines can be deployed as well as in many ways according to actual situations except for aggregation/outlier units), which faces the problem of being consistent with the positioning engine 12, i.e. data of the same terminal must be computed only in a single location. We therefore use the same approach as the positioning engine 12: and partitioning data, and performing hash% partitioned hash modulo equalization algorithm. The processing modes of the calculation engine and the positioning engine 12 are different, the positioning base station 10 directly keeps long connection with a TCP (TRANSMISSION CONTROL PROTOCOL) of each positioning engine 12, and then the positioning base station 10 determines data distribution by itself according to a uniform hash modulo algorithm; the computing engine acquires data through different message pushing modes of the middle layer and needs to be distinguished.
The calculation engine unit needs to store the relevant data information of each terminal besides the calculation processing of the position data; the information of the terminal also needs to be in service connection with an upper-layer service system, the related information of the terminal is stored in a database, and the performance of the terminal is greatly reduced by reading and writing operations for frequent data access of a computing engine; therefore, a cache mechanism needs to be used between each computing unit and the database, and here, redis is adopted as data cache. The cache can be deployed by taking a group and a calculation engine unit as a unit, and at the back end of the service platform, after the terminal data is modified, the message needs to be sent to all the redis caches to synchronize the latest data.
In summary, with the technical solution of the embodiment of the present invention, service splitting and data splitting are performed on two major modules, namely, a positioning engine and a computing engine; the middleware technology supporting grouping, partitioning and subscribing consumption modes is directly introduced into a computing engine, so that the system performance can be greatly improved in the actual scene use, and the problem of data delay is reduced. The real-time performance of positioning is ensured, and the positioning accuracy is ensured. The problem that the positioning point jumps at the display end due to too low positioning frequency is solved, and the positioning effect is not ideal; however, a large amount of position data may occur when the positioning frequency is too fast, the processing capability of the calculation engine is limited, and a certain transmission delay may occur in the process of transmitting the position data to the base station and then forwarding the position data to the calculation engine by the base station, and then the delay of the output position data may increase after the calculation engine performs the calculation processing.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An ultra-wideband UWB based positioning system, comprising:
The positioning base station is communicated with other positioning base stations through a TCP long connection network and is used for receiving a terminal positioning signal sent by a positioning terminal, acquiring a terminal number from the terminal positioning signal, acquiring a positioning engine corresponding to the terminal number and sending the terminal positioning signal to the positioning engine;
the positioning engines are used for respectively receiving terminal positioning signals distributed by the positioning base station, processing the terminal positioning signals and sending position information corresponding to the positioning terminals to the middleware;
the middleware is used for forwarding the received position information to the corresponding calculation engine group according to the subscription information of the calculation engine group;
a plurality of calculation engine groups, wherein one calculation engine group comprises a plurality of calculation engine units which independently perform single service data calculation and is used for performing fence calculation, video area calculation, aggregation/outlier calculation, disappearance/retention calculation and threshold calculation on the position information, and transmitting the processed position information to a display terminal for displaying;
the calculation engine unit specifically includes: one or more fence calculation engines for performing fence calculations, one or more video area calculation engines for performing video area calculations, a cluster/outlier calculation engine for performing cluster/outlier calculations, one or more disappearance/retention calculation engines for performing disappearance/retention calculations, one or more threshold calculation engines for performing threshold calculations;
The calculation engine unit is specifically configured to:
and acquiring a terminal number from the position information, acquiring a fence calculation engine corresponding to the terminal number, transmitting a positioning signal of the same terminal to the same fence calculation engine, a video area calculation engine, a clustering/outlier calculation engine, a disappearance/detention calculation engine and a threshold calculation engine through different message push modes of the middle layer.
2. The system of claim 1, wherein the positioning base station is specifically configured to:
and calculating a hash value of the terminal number according to the terminal number of the positioning terminal, and determining a positioning engine corresponding to the terminal number according to the division of the hash value.
3. The system of claim 1, wherein the positioning base station is specifically configured to: and the positioning engines are respectively connected with the TCP long connection network.
4. The system of claim 1, wherein the middleware is one, coupled to a plurality of positioning engines, or wherein the middleware is a plurality of, each coupled to a positioning engine.
5. The system of claim 1, wherein said UWB-based positioning system further comprises:
And the database is connected with the calculation engine group and used for storing the position related information of each terminal and providing data access service for the calculation engine unit.
6. The system according to claim 5, wherein said database comprises in particular:
the cache modules are deployed in groups according to the calculation engine units and used for caching the position related information of the terminal and providing data access service for the calculation engine units;
and the storage module is connected with the plurality of cache modules and is used for finally storing the position related information of each terminal.
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