CN110380797A - A kind of omni-directional radio frequency positioning system - Google Patents
A kind of omni-directional radio frequency positioning system Download PDFInfo
- Publication number
- CN110380797A CN110380797A CN201910670077.2A CN201910670077A CN110380797A CN 110380797 A CN110380797 A CN 110380797A CN 201910670077 A CN201910670077 A CN 201910670077A CN 110380797 A CN110380797 A CN 110380797A
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- radio frequency
- receiving unit
- positioning
- rssi
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention discloses a kind of omni-directional radio frequency positioning system, including positioning node, anchor node and signal processing module, the anchor node includes at least one set of angle of arrival AoA receiving unit and at least one set of received signal strength RSSI receiving unit, positioning node emits UWB radiofrequency signal, anchor node receives the radiofrequency signal that positioning node issues, the original radio frequency positioning result of AoA receiving unit generation AOA and RSSI, the original radio frequency positioning result of RSSI receiving unit generation RSSI, signal processing module is compared the RSSI original radio frequency positioning result of AOA receiving unit and RSSI receiving unit, complete Primary Location, final radio frequency positioning result of the positioning node relative to anchor node is obtained according to Primary Location result.It is an advantage of the invention that lacked the quantity of AoA receiving unit, and at low cost, logic judgment simple and stable, high reliablity.
Description
Technical field
The present invention relates to mobile sensor fields of measurement, in particular to a kind of omni-directional radio frequency positioning system.
Background technique
Existing patent document CN106900056A discloses a kind of omni-directional radio frequency positioning system and method based on multiple antennas, should
Anchor node in positioning system includes at least two groups of rf receiver units, and every group of rf receiver unit has different position/courts
To every group of rf receiver unit generates an original radio frequency positioning result, realization pair according to the radiofrequency signal that positioning node issues
The omnidirectional of positioning node positions.But there are system complex for the positioning system, because every group of rf receiver unit has AoA data
With RSSI data, positioning result will take convergence strategy, cause the at high cost of system, the low technical problem of reliability.This is exactly
The application needs place improved emphatically.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of omni-directional radio frequency positioning at low cost, high reliablity system
System.
For the technical problem more than solving, the present invention provides a kind of omni-directional radio frequency positioning system, including positioning node,
Anchor node and signal processing module, the anchor node include at least one set of angle of arrival AoA receiving unit, and at least one set of reception
Signal strength RSSI receiving unit, positioning node emit UWB radiofrequency signal, and anchor node receives the radio frequency letter that positioning node issues
Number, AoA receiving unit generates the original radio frequency positioning result of AOA and RSSI, and RSSI receiving unit generates the original radio frequency of RSSI
Positioning result, signal processing module compare the RSSI original radio frequency positioning result of AOA receiving unit and RSSI receiving unit
Compared with completion Primary Location obtains final radio frequency positioning result of the positioning node relative to anchor node according to Primary Location result.
The angle of arrival AoA receiving unit includes at least two groups of radio frequency reception parts.
Two groups of radio frequency reception parts are spatially distributed using the half-wavelength of radiofrequency signal as spacing.
The received signal strength RSSI receiving unit includes at least one group of radio frequency reception part.
The signal processing module includes coarse positioning module, fine positioning module and data filtering module；Wherein:
The coarse positioning module: compare what angle of arrival AoA receiving unit and received signal strength RSSI receiving unit generated
RSSI original radio frequency positioning result tentatively judges that positioning node is located at the front of angle of arrival AoA receiving unit, or positioned at connecing
The front for receiving signal strength RSSI receiving unit, obtains angle information of the preliminary positioning node relative to anchor node；
The fine positioning module: the angle information tentatively obtained is the front that positioning node is located at AoA receiving unit, then with AoA
The AoA information that receiving unit generates is as final radio frequency positioning result；The angle information tentatively obtained is located at for positioning node
The front of RSSI receiving unit, then using the physics of RSSI receiving unit towards angle as final radio frequency positioning result；
The data filtering module: being filtered above-mentioned positioning result on time-space domain, final output positioning result.
The radio frequency reception part includes antenna, RFCO2 laser and peripheral circuit.
The anchor node is also equipped with ability of the measurement and positioning node relative to anchor node distance, the final radio frequency positioning knot
Fruit further includes range information.
Superior effect of the invention is:
1) present invention reduces the quantity of AoA receiving unit compared to current positioning system, to reduce the cost of system, together
When increase one group of RSSI receiving unit, positioning result of the physics towards angle is provided, the precision of positioning is improved；
2) present invention first obtains a preliminary angle information by comparing RSSI signal strength, is then believed by preliminary angle
Breath obtains accurate positioning result, logic judgment simple and stable, high reliablity.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the schematic diagram of specific embodiment of the invention position fixing process；
Figure label explanation
10-positioning nodes；11-anchor nodes；
12-AoA receiving units；13-RSSI receiving units；
14-radio frequency reception parts；
The first position of 41-positioning nodes；The second position of 42-positioning nodes；
The third place of 43-positioning nodes；44-AoA receiving units；
45-the one RSSI receiving unit；46-the two RSSI receiving unit.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing.
Fig. 1 shows the structural schematic diagram of the embodiment of the present invention, and Fig. 2 shows specific embodiment of the invention position fixing process
Schematic diagram.As shown in Figure 1, the present invention provides a kind of omni-directional radio frequency positioning system, including positioning node 10, anchor node 11 and letter
Number processing module, the anchor node 11 include that at least one set angle of arrival AoA receiving unit 12 and at least one set of reception signal are strong
RSSI receiving unit 13 is spent, positioning node 10 emits UWB radiofrequency signal, and anchor node 11 receives the radio frequency letter that positioning node 10 issues
Number, AoA receiving unit 12 only accurately generates the original radio frequency positioning knot of AOA and RSSI in front of it in 180 degree working range
Fruit, RSSI receiving unit 13 generate the original radio frequency positioning result of RSSI, and signal processing module is to AOA receiving unit 12 and RSSI
The RSSI original radio frequency positioning result of receiving unit 13 is compared, and is completed Primary Location, is determined according to Primary Location result
Final radio frequency positioning result of the position node 10 relative to anchor node 11.
The angle of arrival AoA receiving unit 12 includes at least two groups of radio frequency reception parts 14.Two groups of radio frequency reception parts
14 are spatially distributed using the half-wavelength of radiofrequency signal as spacing.
The received signal strength RSSI receiving unit 13 includes at least one group of radio frequency reception part 14.
The signal processing module includes coarse positioning module, fine positioning module and data filtering module；Wherein:
The coarse positioning module: comparing angle of arrival AoA receiving unit 12 and received signal strength RSSI receiving unit 13 generates
RSSI original radio frequency positioning result, tentatively judge that positioning node 10 is located at the front of angle of arrival AoA receiving unit 12, still
Positioned at the front of received signal strength RSSI receiving unit 13, angle of the preliminary positioning node 10 relative to anchor node 11 is obtained
Information；
The fine positioning module: the angle information tentatively obtained is that positioning node 10 is located at the front of AoA receiving unit 12, then with
The AoA information that AoA receiving unit 12 generates is as final radio frequency positioning result；The angle information tentatively obtained is positioning node
10 are located at the front of RSSI receiving unit 13, then are positioned using the physics of RSSI receiving unit 13 towards angle as final radio frequency
As a result；
The data filtering module: being filtered above-mentioned positioning result on time-space domain, final output positioning result.
The radio frequency reception part 14 includes antenna, RFCO2 laser and peripheral circuit.
The anchor node 11 is also equipped with ability of the measurement and positioning node 10 relative to 11 distance of anchor node, the final radio frequency
Positioning result further includes range information.
As shown in Fig. 2, the UWB radio frequency that positioning node 10 emits is believed when positioning node 10 is located at first position 41
It number is received by angle of arrival AoA receiving unit 44；UWB radiofrequency signal penetrates after AoA receiving unit 44 is attenuated simultaneously, respectively
It is received by the first received signal strength RSSI receiving unit 45 and the second received signal strength RSSI receiving unit 46.Signal processing
Coarse positioning module in module is compared the RSSI result of the three:
1) judge that the RSSI that AoA receiving unit 44 generates is maximum, positioning node 10 is located at its front, and Primary Location is completed；Under
One step gets the AoA information generated up to angle A oA receiving unit 44, directly as final radio frequency positioning result.Alternatively,
2) when positioning node 10 is located at the second position 42 or the third place 43, positioning node 10 is judged by RSSI result
Positioned at the front of the first received signal strength RSSI receiving unit 45 or the second received signal strength RSSI receiving unit 46,
Coarse positioning is completed；In next step, directly with the first received signal strength RSSI receiving unit 45 or the second received signal strength
The physics of RSSI receiving unit 46 is towards angle as final radio frequency positioning result.
The foregoing is merely preferred embodiments of the invention, are not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of the present invention within.
Claims (7)
1. a kind of omni-directional radio frequency positioning system, including positioning node, anchor node and signal processing module, the anchor node includes extremely
Few one group of angle of arrival AoA receiving unit, it is characterised in that: the anchor node further includes at least one set of received signal strength RSSI
Receiving unit, positioning node emit UWB radiofrequency signal, and anchor node receives the radiofrequency signal that positioning node issues, AoA receiving unit
The original radio frequency positioning result of AOA and RSSI is generated, RSSI receiving unit generates the original radio frequency positioning result of RSSI, at signal
Reason module is compared the RSSI original radio frequency positioning result of AOA receiving unit and RSSI receiving unit, completes Primary Location,
Final radio frequency positioning result of the positioning node relative to anchor node is obtained according to Primary Location result.
2. omni-directional radio frequency positioning system according to claim 1, it is characterised in that: the angle of arrival AoA receiving unit
Including at least two groups of radio frequency reception parts.
3. omni-directional radio frequency positioning system according to claim 2, it is characterised in that: two groups of radio frequency reception parts are in space
On using the half-wavelength of radiofrequency signal as spacing be distributed.
4. omni-directional radio frequency positioning system according to claim 1, it is characterised in that: the received signal strength RSSI is received
Unit includes at least one group of radio frequency reception part.
5. omni-directional radio frequency positioning system according to claim 1, it is characterised in that: the signal processing module includes thick fixed
Position module, fine positioning module and data filtering module；
The coarse positioning module: compare what angle of arrival AoA receiving unit and received signal strength RSSI receiving unit generated
RSSI original radio frequency positioning result tentatively judges that positioning node is located at the front of angle of arrival AoA receiving unit, or positioned at connecing
The front for receiving signal strength RSSI receiving unit, obtains angle information of the preliminary positioning node relative to anchor node；
The fine positioning module: the angle information tentatively obtained is the front that positioning node is located at AoA receiving unit, then with AoA
The AoA information that receiving unit generates is as final radio frequency positioning result；The angle information tentatively obtained is located at for positioning node
The front of RSSI receiving unit, then using the physics of RSSI receiving unit towards angle as final radio frequency positioning result；
The data filtering module: being filtered above-mentioned positioning result on time-space domain, final output positioning result.
6. omni-directional radio frequency positioning system according to claim 2 or 4, it is characterised in that: the radio frequency reception part includes day
Line, RFCO2 laser and peripheral circuit.
7. omni-directional radio frequency positioning system according to claim 1, it is characterised in that: the anchor node is also equipped with measurement and positioning
Ability of the node relative to anchor node distance, the final radio frequency positioning result further includes range information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910670077.2A CN110380797A (en) | 2019-07-24 | 2019-07-24 | A kind of omni-directional radio frequency positioning system |
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| CN201910670077.2A CN110380797A (en) | 2019-07-24 | 2019-07-24 | A kind of omni-directional radio frequency positioning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115113135A (en) * | 2022-06-21 | 2022-09-27 | Oppo广东移动通信有限公司 | Method for determining angle of arrival and related device |
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| CA2442950A1 (en) * | 2003-09-26 | 2005-03-26 | Chahe Nerguizian | Method and system for indoor geolocation using an impulse response fingerprinting technique |
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Application publication date: 20191025 |