CN110121150A - A kind of trans-regional seamless positioning system in interior based on UWB technology - Google Patents
A kind of trans-regional seamless positioning system in interior based on UWB technology Download PDFInfo
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- CN110121150A CN110121150A CN201910441142.4A CN201910441142A CN110121150A CN 110121150 A CN110121150 A CN 110121150A CN 201910441142 A CN201910441142 A CN 201910441142A CN 110121150 A CN110121150 A CN 110121150A
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- base station
- positioning
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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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The trans-regional seamless positioning system in interior based on UWB technology that the present invention relates to a kind of, including positioning label, locating base station and information processing system, the scene of the positioning system covering is divided into multiple regions, the locating base station is disposed in each region, the positioning label is used to send UWB signal to the locating base station, the locating base station is used to the UWB signal received being transferred to the information processing system, the information processing system parses the UWB signal that the locating base station receives, and obtains the location information of positioning label；The locating base station is according to obtained location information selection using location-independent or co-located.The present invention can be realized the seamless switching of indoor trans-regional positioning.
Description
Technical field
The present invention relates to indoor positioning technologies fields, trans-regional seamless more particularly to a kind of interior based on UWB technology
Positioning system.
Background technique
The a part of intelligence manufacture cargo locating and tracking and tracing management as industry internet system is produced in enterprise and is managed
Play increasingly important role in reason, ensure that cargo production links data inputting and tracking and positioning, it is ensured that enterprise and
When accurately grasp the production process of cargo and the truthful data of inventory, rationally keep and control enterprise's line management and library
It deposits.The position to intelligence manufacture whole process cargo, cargo state etc. are also convenient to by the system to be managed and optimize, and are had
Conducive to the tracing management improved in cargo production, while improving the working efficiency of intelligence manufacture production process and warehousing management.
Ultra wide band (abbreviation UWB) technology is different from other wireless communication techniques, it is not needed using in traditional communication system
Carrier wave, but transmit data by sending and receiving with nanosecond or nanosecond ultra-narrow pulse below, there is transmission speed
Rate is high, transmission power is lower, penetration capacity is compared with the advantages that strong, positioning accuracy is high.There is the time point less than 1ns due to ultra wide band
Resolution can realize the positioning accuracy of Centimeter Level while keeping communication.
For large-scale and complicated positioning scene, subregion positioning can reduce the influence of non line of sight transmission, and solve base station
Remote-wireless synchronizes difficult problem.But label, in region intersection, positioning system can be continually in the base of different zones
Switch between standing, generates positional jitter phenomenon, cause user experience not high.In the main research department of seamless positioning technology and room at present
The seamless switching of outer location technology, the seamless switching between indoor positioning region are related to not yet.
Summary of the invention
The trans-regional seamless positioning system in interior that technical problem to be solved by the invention is to provide a kind of based on UWB technology
System can be realized the seamless switching of indoor trans-regional positioning.
The technical solution adopted by the present invention to solve the technical problems is: it is transregional to provide a kind of interior based on UWB technology
The scene of domain seamless positioning system, including positioning label, locating base station and information processing system, the positioning system covering is drawn
It is divided into multiple regions, the locating base station is disposed in each region, the positioning label is used to send to the locating base station
UWB signal, the locating base station are used to the UWB signal received being transferred to the information processing system, the information processing system
System parses the UWB signal that the locating base station receives, and obtains the location information of positioning label；The locating base station according to
Obtained location information selection is using location-independent or co-located.
When the location information of the positioning label is in a certain region, the locating base station in the region is using independent fixed
Position；When the location information of the positioning label is positioned at the boundary position in two regions, the locating base station in two regions is adopted
Use co-located.
When the positioning label is located in a certain region, if the locating base station quantity for receiving UWB signal in the region is small
When the quantity of minimum positioning requirements, then positions label and send UWB signal again and relocated.
When positioning label is located at the intersection in two regions, UWB is received if having in a region in two regions
When the locating base station quantity of signal is less than the quantity of minimum positioning requirements, then carried out using the locating base station in another region only
It halts position, if when the locating base station quantity for receiving UWB signal in two regions is both less than the quantity of minimum positioning requirements, it is fixed
Position label sends UWB signal again and is relocated.
When the locating base station in two regions uses co-located, the information processing system is by the positioning in two regions
The result that base station obtains is weighted processing to obtain the location information of positioning label, calculation are as follows: P (x, y)=wPA(x,
y)+(1-w)PB(x, y), wherein P (x, y) is the location information for positioning label, PA(x, y) is a zone location result coordinate,
PB(x, y) is another zone location result coordinate, and w is weight factor.
Between the locating base station synchronous by sending the synchronizing information deadline, each locating base station, which is collected, to be received
UWB signal and the timestamp received are transmitted to information processing system.
Beneficial effect
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit: the present invention can realize that effectively seamless base station switches in adjacent area intersection, smoothly transition from positioning label
To each region, positional jitter phenomenon caused by switching repeatedly is reduced, positioning accuracy is improved.
Detailed description of the invention
Fig. 1 is system diagram of the invention；
Fig. 2 is that TDOA positions geometrical model figure in the present invention；
Fig. 3 is Handover schematic diagram in the present invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiments of the present invention are related to a kind of trans-regional seamless positioning system in interior based on UWB technology, such as Fig. 1 institute
Show, including positioning label, locating base station and information processing system, the scene of the positioning system covering is divided into multiple areas
Domain, the locating base station is disposed in each region, and the positioning label is used to send UWB signal, institute to the locating base station
Locating base station is stated for the UWB signal received to be transferred to the information processing system, the information processing system will be described fixed
The UWB signal that position base station receives is parsed, and the location information of positioning label is obtained；The locating base station is according to obtained position
Information selection uses location-independent or co-located.
Wherein, positioning label is periodically sent out to locating base station using included lithium battery power supply by UWB transmitting module
Send UWB signal.Locating base station is responsible for receiving positioning signal, same by sending between each locating base station using TDOA location technology
It is synchronous to walk the information deadline, and the timestamp received is packaged, information processing system is transferred to by Ethernet.At information
The timestamp information that reason system is arrived according to base station measurement, the coordinate of outgoing label is calculated with location algorithm, and is shown in electronically
Position tracking is realized on figure.
TDOA positioning principle is the difference for measuring two arrival times between different base station and label, then multiplied by light
Fast c can obtain a fixed distance difference.Unique one pair can be established according to the range difference of label to two base stations
Then curve establishes the coordinate that the solution of Hyperbolic Equation group is obtained with label, geometrical model such as Fig. 2 institute by more base stations
Show.
Information processing system parse label location information when, according to label position and receive locating base station quantity come
Determine current optimal positioning method.Its principle is as shown in figure 3, two interregional adjacent parts are defined as intersection, not phase
Adjacent part is defined as inside region, and black dot represents locating base station, is divided according to affiliated area, and locating base station 1~
4 corresponding region A of locating base station, 5~locating base station of locating base station, 8 corresponding region B, it is only using the locating base station in the region in region
It halts position, intersection uses the locating base station co-located of adjacent area.
Assuming that label moves to region B from region A shown in Fig. 3, then positioning flow the following steps are included:
Step 1: positioning label is located at region A
It moves when positioning label from region A to region B, when not entering two region intersections also, is positioned according to last moment
As a result positioning label is located inside the A of region known to, is positioned at this time using 1~locating base station of locating base station 4, if being wherein less than
3 locating base stations have received UWB positioning signal, then position label and retransmit positioning signal, until receiving UWB positioning letter
Number locating base station quantity be no less than 3.Then current time positioning label is calculated according to the locating base station measured value of region A
Position.
Step 2: positioning label is located at intersection
When the positioning label position of last moment moves to two region intersections, then it is fixed to be cooperateed with using region A with region B
The mode of position completes positioning using the measured value of 1~locating base station of locating base station 8.Using Weighted Average Algorithm, by locating base station
The positioning result of 1~locating base station 4 assigns weight factor w, the positioning result of 5~locating base station of locating base station 8 assign weight because
Sub (1-w), fusion results are P (x, y)=wPA(x,y)+(1-w)PB(x, y), in formula, PA(x, y) is region A positioning result seat
Mark, PB(x, y) is region B positioning result coordinate.If receiving the locating base station of UWB positioning signal in this time domain A or region B
Quantity is less than 3, then carries out location-independent using the locating base station in another region, if two regions receive UWB positioning letter
Number locating base station quantity be less than 3, then position label and retransmit UWB positioning signal, until one of region is inscribed
The base station number for receiving UWB positioning signal is no less than 3, then calculates the position of current time positioning label.
Step 3: positioning label is located at region B
When the positioning label position of last moment, which leaves intersection, enters region B, it is switched to the side of region B location-independent
Formula completes positioning using the measured value of 5~locating base station of locating base station 8.If wherein having received UWB positioning less than 3 base stations
Signal then positions label and retransmits UWB positioning signal, and the base station number until receiving UWB positioning signal is no less than 3.
Then the position of current time positioning label is calculated according to the locating base station measured value of region B.
In these three steps, regardless of positioning label is located at region inside or region intersection, can all there be corresponding positioning
Mechanism solves the location information of label, the comprehensive real-time positioning system of a kind of personnel or article is formed, in trans-regional positioning
In the process, while using the base station in two regions tag coordinate is calculated, completes the smooth transition of label position.
It can be seen that a kind of trans-regional seamless positioning system in interior based on UWB technology proposed by the present invention can be realized
The precise positioning of indoor different zones, compared with prior art, the present invention can be realized effectively seamless in adjacent area intersection
Base station switching, allow position label smoothly from a region transfers to another region, reduce repeatedly switch caused by
Positional jitter phenomenon, improves positioning accuracy.
Claims (6)
1. a kind of trans-regional seamless positioning system in interior based on UWB technology, including positioning label, locating base station and information processing
System, which is characterized in that the scene of the positioning system covering is divided into multiple regions, and it is described fixed to be disposed in each region
Position base station, the positioning label are used to send UWB signal to the locating base station, and the locating base station is used for the UWB that will be received
Signal is transferred to the information processing system, and the information processing system solves the UWB signal that the locating base station receives
Analysis obtains the location information of positioning label；The locating base station is according to obtained location information selection using location-independent or association
With positioning.
2. the interior trans-regional seamless positioning system according to claim 1 based on UWB technology, which is characterized in that described
When the location information for positioning label is in a certain region, the locating base station in the region uses location-independent；The positioning
When the location information of label is positioned at the boundary position in two regions, the locating base station in two regions uses co-located.
3. the interior trans-regional seamless positioning system according to claim 2 based on UWB technology, which is characterized in that described
When positioning label is located in a certain region, if the locating base station quantity for receiving UWB signal in the region is positioned to less than minimum
When the quantity asked, then positions label and send UWB signal again and relocated.
4. the interior trans-regional seamless positioning system according to claim 2 based on UWB technology, which is characterized in that when fixed
When position label is located at the intersection in two regions, if there is the positioning base for receiving UWB signal in a region in two regions
When quantity of standing is less than the quantity of minimum positioning requirements, then location-independent is carried out using the locating base station in another region, if two
When receiving the quantity of the both less than minimum positioning requirements of locating base station quantity of UWB signal in a region, then label is positioned again
UWB signal is sent to be relocated.
5. the interior trans-regional seamless positioning system according to claim 2 based on UWB technology, which is characterized in that when two
When locating base station in a region uses co-located, knot that the information processing system obtains the locating base station in two regions
Fruit is weighted processing to obtain the location information of positioning label, calculation are as follows: P (x, y)=wPA(x,y)+(1-w)PB(x,
Y), wherein P (x, y) is the location information for positioning label, PA(x, y) is a zone location result coordinate, PB(x, y) is another
A zone location result coordinate, w are weight factor.
6. the interior trans-regional seamless positioning system according to claim 1 based on UWB technology, which is characterized in that described
Synchronous by sending the synchronizing information deadline between locating base station, each locating base station is collected the UWB signal received and is connect
The timestamp received is transmitted to information processing system.
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| CN111770570A (en) * | 2020-06-08 | 2020-10-13 | 锐捷网络股份有限公司 | Ultra-wideband positioning system label positioning method, device, medium and equipment |
| WO2021031126A1 (en) * | 2019-08-20 | 2021-02-25 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle positioning method and device, unmanned aerial vehicle, and computer-readable medium |
| CN112672406A (en) * | 2020-12-23 | 2021-04-16 | 刘晓丰 | Active calibration awakening system and algorithm based on UWB positioning technology |
| CN112964258A (en) * | 2021-02-06 | 2021-06-15 | 河北大学 | Multi-unit cooperative positioning system based on TDOA |
| CN113203982A (en) * | 2021-04-30 | 2021-08-03 | 中煤科工集团重庆研究院有限公司 | TDOA (time difference of arrival) cross-region positioning method for mine |
| CN114339603A (en) * | 2021-12-24 | 2022-04-12 | 珠海优特电力科技股份有限公司 | Switching method, device and equipment of positioning area and storage medium |
| CN115015835A (en) * | 2022-06-23 | 2022-09-06 | 武汉理工大学 | Map enhanced anchor point selection positioning method based on UWB positioning system |
| CN116567759A (en) * | 2023-04-10 | 2023-08-08 | 青岛柯锐思德电子科技有限公司 | Roaming scheduling algorithm of TWR positioning technology based on UWB |
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| CN112672406B (en) * | 2020-12-23 | 2024-05-24 | 刘晓丰 | Active calibration awakening system and algorithm based on UWB positioning technology |
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| CN115015835A (en) * | 2022-06-23 | 2022-09-06 | 武汉理工大学 | Map enhanced anchor point selection positioning method based on UWB positioning system |
| CN116567759A (en) * | 2023-04-10 | 2023-08-08 | 青岛柯锐思德电子科技有限公司 | Roaming scheduling algorithm of TWR positioning technology based on UWB |
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