CN110346760A - A kind of positioning system and localization method based on passive RF - Google Patents
A kind of positioning system and localization method based on passive RF Download PDFInfo
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- CN110346760A CN110346760A CN201910546201.4A CN201910546201A CN110346760A CN 110346760 A CN110346760 A CN 110346760A CN 201910546201 A CN201910546201 A CN 201910546201A CN 110346760 A CN110346760 A CN 110346760A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000004807 localization Effects 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 13
- 229910003460 diamond Inorganic materials 0.000 claims description 9
- 239000010432 diamond Substances 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 description 12
- 238000010276 construction Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000001413 cellular effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 235000003283 Pachira macrocarpa Nutrition 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of positioning systems based on passive RF, including central controller, cable router, wireless router, reader and antenna, first signal input output end of the first signal input output end connection cable router of central controller, first signal input output end of the second signal input/output terminal connection reader of cable router, reader has wireless signal input/output module, the signal input output end of the second signal input/output terminal connection wireless router of central controller, wireless router has the wireless signal transmitting and receiving module wirelessly communicated with the wireless signal input/output module of reader, the signal input output end of the second signal input/output terminal connection antenna of reader, antenna has the communication module communicated with label to be positioned.The invention also discloses a kind of localization methods based on passive RF.Of the invention is of simple structure and low cost；Method is easy to operate, has excellent performance.
Description
Technical field
The present invention relates to fields of communication technology, more particularly to a kind of based on the positioning system of passive RF and positioning side
Method.
Background technique
Currently, positioning system can be divided into outdoor positioning and two kinds of indoor positioning according to localizing environment, outdoor positioning mainly has
Global positioning system (GPS, GlobalPositioningSystem) and cellular radio positioning
(Cellularwirelesslocation).Wherein GPS is using more successful location technology, good positioning accuracy
Solves the practical problem of many military and civilians.Demand with people to indoor positioning information is growing day by day, airport, exhibition
The Room, office building, warehouse, underground parking, military training base etc. require accurate indoor positioning information, to available space
Efficient management is realized with stock in storage.The research of indoor positioning gradually appears and becomes hot spot.
Due to the particularity of indoor environment, it may appear that the interference of serious indoor shielding and non line of sight noise, GPS can not
Effectively sensing satellite-signal can not be accurately positioned in turn.So in general, indoor location and tracking be can not using GPS and
Cellular radio positions to realize.Based on this, need to explore other solutions to solve above-mentioned technical problem.
Summary of the invention
For it is above-mentioned to solve the technical issues of, the technical problem to be solved by the present invention is to propose a kind of to penetrate based on passive
The positioning system and localization method of frequency, have that equipment manufacturing costs are low, project amount is small for debugging, easy construction and positioning accuracy are high
The advantages of.
In order to solve the above technical problems, the technical scheme is that a kind of positioning system based on passive RF, packet
Include central controller, cable router, wireless router, reader and antenna, the first signal input of the central controller
Output end connects the first signal input output end of the cable router, the second signal input/output terminal of cable router
Connect the first signal input output end of the reader, the reader has a wireless signal input/output module, it is described in
The second signal input/output terminal of centre controller connects the signal input output end of the wireless router, the wireless routing
Device has the wireless signal transmitting and receiving module wirelessly communicated with the wireless signal input/output module of the reader, described
The second signal input/output terminal of reader connects the signal input output end of the antenna, the antenna have with it is to be positioned
The communication module of label communication.
In order to solve the above technical problems, the invention also provides a kind of localization method based on passive RF, including antenna
Array layout step, personnel pass in and out management process, locating and tracking calculates step and locating and tracking shows step, in which:
Antenna array layout step: being laid out the antenna coverage areas of diamond shape or " well " font indoors, then indoors
Doorway is laid out antenna coverage areas；
Personnel pass in and out management process: arrangement anchor point and several labels to be positioned that data communication can be carried out with anchor point, anchor
The point first antenna that is deployed in door of connection and it is deployed in the second antenna outdoors, first antenna and the second antenna symmetry are set
It sets inside and outside door；
Locating and tracking calculate step: current location and the historical position of label to be positioned are obtained by anchor point, calculate to
It positions label and is located at indoor or outdoor；
Locating and tracking shows step: the position of calculated label to be positioned is shown on user interface.
The beneficial effects of the present invention are:
1, the present invention using UWB technology realize personnel pass in and out management, UWB technology using by signal in sky
In flight time carry out ranging, range accuracy can reach 30cm；
2, the present invention is capable of detecting when the accurate distance of label and anchor point to be positioned, used label volume to be positioned
It is small, at low cost, the localization method of label to be positioned is carried using target, is suitable for the occasion of extensive indoor positioning tracking；
3, of the invention of simple structure and low cost；Method is easy to operate, has excellent performance；
4, the present invention does not use field strength technology to label to be positioned, therefore not will receive the influence of environment, improves positioning
Accuracy；
5, the present invention does not need to therefore, there is no need to carry out signal according to the different to different parameter testings of use environment
The debugging of range, to reduce debugging project amount of the invention；
6, farther out, system components may be mounted at relatively far away from the UWB technology longer communication distance in the present invention
The scalability of distance, deployed position is big；
7, the present invention is of less demanding to antenna mounting locations, setting angle, need to only meet regulation deployed position of the invention
, easy construction；
8, the present invention in positioning accuracy can reach 30cm, compared with the prior art in GPS positioning technology, this hair
It is bright to can be realized high accuracy positioning.
In a preferred embodiment, antenna array layout step, including indoor arrangement step and doorway layout step,
In: it indoor arrangement step: is laid out the antenna coverage areas of diamond shape or " well " font indoors；Doorway layout step: in room door
It is laid with first antenna overlay area and the second antenna coverage areas respectively inside and outside mouthful.Indoor arrangement is using not overlapping water chestnut
Shape layout or " well " font layout, have scalability, on the one hand reduce the antenna amount of reader, prevent reader not
With the collision between antenna, on the other hand target can be tracked；It is laid out using not overlapping diamond shape, entrained by target
Label to be positioned can directly position target in antenna coverage areas, the white space between antenna coverage areas
It is tracked.Doorway layout: first antenna overlay area and the second antenna coverage are respectively equipped with inside and outside room doorway
Domain passes in and out management for personnel.
In a preferred embodiment, locating and tracking calculates step the following steps are included: obtaining label to be positioned by anchor point
Current location and historical position；Current location and historical position by anchor point according to label to be positioned, judge mark to be positioned
The inlet/outlet of label acts.
In a preferred embodiment, it is further comprising the steps of to calculate step for locating and tracking: when label to be positioned was away from first day
The distance of line be less than label to be positioned away from the second antenna apart from when, then anchor point determines that the position of label to be positioned is located in door；
When distance of the label to be positioned away from first antenna be greater than label to be positioned away from the second antenna apart from when, then anchor point determines undetermined
The position of position label is located outside the door；When anchor point is identical to the location determination result of label to be positioned twice in succession, by the position
Otherwise the current location that judgement result is recorded as label to be positioned not records.
In a preferred embodiment, it is further comprising the steps of to calculate step for locating and tracking:
S21: judging whether the current location of label to be positioned and historical position are located inside and outside door, if so, into
Enter step 22；If not, entering step 23；
S22: when the historical position of label to be positioned is located at the outside of door, then anchor point determines that label to be positioned is entered, and just remembers
Personal information-the name and tag number are recorded, is stored in database；When the historical position of label to be positioned is located at the inside of door, then
Anchor point determines that label to be positioned is gone out, and the personal information of the personnel is just deleted from database；
S23: anchor point determines that inlet/outlet movement does not occur for label to be positioned, terminates.
In a preferred embodiment, locating and tracking show step, it is further comprising the steps of: central controller will position with
What track calculating step obtained arrives user interface as the result is shown, and the result is wirelessly sent to mobile phone user
Terminal is shown on the interface of cell phone user terminal.
Detailed description of the invention
The step of Fig. 1 is a kind of localization method based on passive RF described in the embodiment of the present invention；
Fig. 2 is a kind of functional-block diagram of the positioning system based on passive RF described in the embodiment of the present invention；
Fig. 3 is aerial array in the embodiment of the present invention " well " font layout；
Fig. 4 is the doorway layout application principle figure of antenna array layout in the embodiment of the present invention；
Fig. 5 is the doorway schematic layout pattern of antenna array layout in the embodiment of the present invention.
Description of symbols:
1, central controller；2, cable router；3, wireless router；4, reader；5, antenna；6, anchor point；7, undetermined
Position label；8, antenna coverage areas；9, white space；10, first antenna overlay area；11, the second antenna coverage areas；12,
First antenna；13, the second antenna.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
Embodiment:
As shown in Figs. 1-5, a kind of positioning system based on passive RF, including central controller 1, cable router 2,
Wireless router 3, reader 4 and antenna 5, the central controller 1 the first signal input output end connection described in have route
By the first signal input output end of device 2, the second signal input/output terminal of cable router 2 connects the of the reader 4
One signal input output end, the reader 4 have wireless signal input/output module, the second letter of the central controller 1
Number input/output terminal connects the signal input output end of the wireless router 3, and the wireless router 3 has and the reading
Write device 4 wireless signal input/output module wireless communication wireless signal transmitting and receiving module, the second of the reader 4
Signal input output end connects the signal input output end of the antenna 5, and the antenna 5 has to be communicated with label 7 to be positioned
Communication module.
As shown in Figs. 1-5, a kind of localization method based on passive RF, including 5 array layout step of antenna, Ren Yuanjin
Management process, locating and tracking calculate step out and locating and tracking shows step, in which:
5 array layout step of antenna: it is laid out the antenna coverage areas 8 of diamond shape or " well " font indoors, then indoors
Doorway be laid out antenna coverage areas 8；
Personnel pass in and out management process: arrangement anchor point 6 and several labels to be positioned that data communication can be carried out with anchor point 6
7, anchor point 6 connects the first antenna 12 that is deployed in door and is deployed in the second antenna 13 outdoors, by first antenna 12 and second
Antenna 13 is symmetricly set on inside and outside door；
Locating and tracking calculates step: obtaining current location and the historical position of label 7 to be positioned by anchor point 6, calculates
Label 7 to be positioned is located at indoor or outdoor；
Locating and tracking shows step: the position of calculated label 7 to be positioned is shown on user interface.
Used in the embodiment of the present invention is that UWB technology realizes that personnel pass in and out management, and UWB technology is using passing through signal
The skyborne flight time carries out ranging, and range accuracy can reach 30cm；It is capable of detecting when label 7 to be positioned and anchor point 6
Accurate distance, used label 7 to be positioned is small in size, at low cost, and the positioning side of label 7 to be positioned is carried using target
Method is suitable for the occasion of extensive indoor positioning tracking；The present embodiment it is of simple structure and low cost；Method is easy to operate,
It has excellent performance；The embodiment of the present invention does not use field strength technology to label 7 to be positioned, therefore not will receive the influence of environment, improves
Positioning accuracy；The embodiment of the present invention does not need the difference according to use environment to different parameter testings, therefore, is not required to
The debugging of range of signal is carried out, to reduce debugging project amount of the invention；UWB technology in the embodiment of the present invention can
Farther out, system components may be mounted at distance relatively far away to communication distance, and the scalability of deployed position is big；This
Inventive embodiments are of less demanding to 5 installation site of antenna, setting angle, only need to meet regulation deployed position of the invention,
Easy construction；Positioning accuracy in the embodiment of the present invention can reach 30cm, compared with the prior art in GPS positioning technology,
The present invention can be realized high accuracy positioning.
As shown in figure 4, the position of personnel's in-out management system is disposed in the present embodiment are as follows: first antenna 12 and second day
The vertical range of 13 range gate of line is respectively a, b, and first antenna 12 and the second antenna 13 are symmetricly set on inside and outside door,
That is the measurement length of a=b, first antenna 12 and label 7 to be positioned is c, and the measurement of the second antenna 13 and label 7 to be positioned is long
Degree is d.In this way, the ranging length and first antenna 12 of first antenna 12 and the second antenna 13 and label 7 to be positioned and the
The distance of two antennas 13 forms a triangle.Using first antenna 12 as the bottom of the triangle at a distance from the second antenna 13
The ranging length of side, first antenna 12 and the second antenna 13 and label 7 to be positioned is two waist edges of triangle, according to two
The length of waist edge come judge Men Nei still outdoors.
Location determination method is in the present embodiment: as c < d, then anchor point 66 determines that label 7 to be positioned is located in door；Work as c
When > d, then anchor point 6 determines that label 7 to be positioned is located outside the door, and label 7 to be positioned situation located outside the door is as shown in Figure 1.In addition,
The present embodiment is also possible that the case where c=d, then anchor point 6 determines that label 7 to be positioned is located at doorway position.
In the embodiment of the present invention, if Men Nei is less than range accuracy, and label to be positioned 7 with boundary outdoors
The case where position is located in Men Nei and boundary outdoors, then the testing result of anchor point 6 is easy to appear an inside door external rebound jump,
The positioning accuracy of anchor point 6 can thus be interfered, in order to guarantee the accuracy of judgement, avoid the appearance of such case,
It is item in Men Nei or outdoors that just determination is added when continuously acquiring two or two or more same position information in the present invention
Part, in this way, if anchor point 6 different situations occurs (as judged to the location determination result of label 7 to be positioned twice in succession
In door or result outdoors is jumped back and forth), then anchor point 6 determines that the position of label 7 to be positioned is located at Men Nei and boundary outdoors
On, then anchor point 6 not records.Therefore, in this improvement, the accuracy of position positioning of the present invention is improved.
In another embodiment, 5 array layout step of antenna, including indoor arrangement step and doorway layout step,
Wherein: indoor arrangement step: being laid out the antenna coverage areas 8 of diamond shape or " well " font indoors；Doorway layout step: in room
Between be laid with first antenna overlay area 10 and the second antenna coverage areas 11 respectively inside and outside doorway.Indoor arrangement is not using
Overlapping diamond shape layout or " well " font layout, has scalability, on the one hand reduces 5 quantity of antenna of reader 4, prevent
The only collision between 4 different antennae 5 of reader, on the other hand can track target；It is laid out using not overlapping diamond shape,
Label 7 to be positioned entrained by target can directly position target in antenna coverage areas 8, in antenna coverage areas 8
Between white space 9 tracked.Doorway layout: first antenna overlay area is respectively equipped with inside and outside room doorway
10 and second antenna coverage areas 11, management is passed in and out for personnel.
In another embodiment, locating and tracking calculates step the following steps are included: obtaining by anchor point 6 to be positioned
The current location of label 7 and historical position；Current location and historical position by anchor point 6 according to label 7 to be positioned, judgement
The inlet/outlet of label 7 to be positioned acts.
In another embodiment, it is further comprising the steps of that locating and tracking calculates step: when label 7 to be positioned is away from the
The distance of one antenna 12 be less than label 7 to be positioned away from the second antenna 13 apart from when, then anchor point 6 determines the position of label 7 to be positioned
Setting in door；When distance of the label 7 away from first antenna 12 to be positioned is greater than distance of the label 7 to be positioned away from the second antenna 13
When, then anchor point 6 determines that the position of label 7 to be positioned is located outside the door；When anchor point 6 twice in succession sentences the position of label 7 to be positioned
Determine result it is identical when, otherwise the current location which is recorded as label 7 to be positioned is not recorded.
In another embodiment, it is further comprising the steps of that locating and tracking calculates step:
S21: judging whether the current location of label 7 to be positioned and historical position are located inside and outside door, if so,
Enter step 22；If not, entering step 23；
S22: when the historical position of label 7 to be positioned is located at the outside of door, then anchor point 6 determines that label 7 to be positioned is entered,
Personal information-the name and tag number are just recorded, is stored in database；When the historical position of label 7 to be positioned is located in door
Side, then anchor point 6 determines that label 7 to be positioned is gone out, and the personal information of the personnel is just deleted from database；
S23: anchor point 6 determines that inlet/outlet movement does not occur for label 7 to be positioned, terminates.
In another embodiment, locating and tracking shows step, further comprising the steps of: central controller 1 will position
What tracking calculating step obtained arrives user interface as the result is shown, and the result is wirelessly sent to mobile phone and is used
Family terminal is shown on the interface of cell phone user terminal.
A specific embodiment of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to of the invention
Protection scope.
Claims (7)
1. a kind of positioning system based on passive RF, which is characterized in that including central controller, cable router, without route
By device, reader and antenna, the first signal input output end of the central controller connects the first of the cable router
Signal input output end, the second signal input/output terminal of cable router connect the first signal input and output of the reader
End, the reader have wireless signal input/output module, and the second signal input/output terminal of the central controller connects
The signal input output end of the wireless router, the wireless router have defeated with the input of the wireless signal of the reader
The second signal input/output terminal of the wireless signal transmitting and receiving module of module wireless communication out, the reader connects the day
The signal input output end of line, the antenna have the communication module communicated with label to be positioned.
2. a kind of localization method of the positioning system based on passive RF as described in claim 1, which is characterized in that including antenna
Array layout step, personnel pass in and out management process, locating and tracking calculates step and locating and tracking shows step, in which:
Antenna array layout step: it is laid out the antenna coverage areas of diamond shape or " well " font indoors, then doorway indoors
It is laid out antenna coverage areas；
Personnel pass in and out management process: arrangement anchor point and several labels to be positioned that data communication can be carried out with anchor point, anchor point connect
It connects the first antenna being deployed in door and is deployed in the second antenna outdoors, first antenna and the second antenna symmetry are arranged in door
Inside and outside；
Locating and tracking calculates step: obtaining current location and the historical position of label to be positioned by anchor point, calculates to be positioned
Label is located at indoor or outdoor；
Locating and tracking shows step: the position of calculated label to be positioned is shown on user interface.
3. the localization method according to claim 2 based on passive RF, which is characterized in that antenna array layout step,
Including indoor arrangement step and doorway layout step, in which:
Indoor arrangement step: it is laid out the antenna coverage areas of diamond shape or " well " font indoors；
Doorway layout step: first antenna overlay area and the second antenna coverage are laid with respectively inside and outside room doorway
Domain.
4. based on the localization method of passive RF according to Claims 2 or 3, which is characterized in that locating and tracking calculates step
The following steps are included:
Current location and the historical position of label to be positioned are obtained by anchor point；
Current location and historical position by anchor point according to label to be positioned judge the inlet/outlet movement of label to be positioned.
5. according to claim 4 based on the localization method of passive RF, which is characterized in that locating and tracking calculates step and also wraps
Include following steps:
When distance of the label to be positioned away from first antenna be less than label to be positioned away from the second antenna apart from when, then anchor point determine to
The position of positioning label is located in door；
When distance of the label to be positioned away from first antenna be greater than label to be positioned away from the second antenna apart from when, then anchor point determine to
The position for positioning label is located outside the door；
When anchor point is identical to the location determination result of label to be positioned twice in succession, which is recorded as undetermined
Otherwise the current location of position label not records.
6. according to claim 5 based on the localization method of passive RF, which is characterized in that locating and tracking calculates step and also wraps
Include following steps:
S21: judging whether the current location of label to be positioned and historical position are located inside and outside door, if so, entering step
Rapid 22；If not, entering step 23；
S22: when the historical position of label to be positioned is located at the outside of door, then anchor point determines that label to be positioned is entered, and just record should
Personal information-name and tag number are stored in database；When the historical position of label to be positioned is located at the inside of door, then anchor point
Determine that label to be positioned is gone out, the personal information of the personnel is just deleted from database；
S23: anchor point determines that inlet/outlet movement does not occur for label to be positioned, terminates.
7. the localization method according to claim 2 based on passive RF, which is characterized in that locating and tracking shows step,
It is further comprising the steps of:
Central controller arrives user interface for what locating and tracking calculating step obtained as the result is shown, and the result is passed through nothing
Line mode is sent to cell phone user terminal, shows on the interface of cell phone user terminal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910546201.4A CN110346760A (en) | 2019-06-20 | 2019-06-20 | A kind of positioning system and localization method based on passive RF |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910546201.4A CN110346760A (en) | 2019-06-20 | 2019-06-20 | A kind of positioning system and localization method based on passive RF |
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| CN201910546201.4A Pending CN110346760A (en) | 2019-06-20 | 2019-06-20 | A kind of positioning system and localization method based on passive RF |
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