CN110557569A - Intelligent monitoring system and method integrating ultra-wideband AoA positioning and video tracking - Google Patents
Intelligent monitoring system and method integrating ultra-wideband AoA positioning and video tracking Download PDFInfo
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- CN110557569A CN110557569A CN201910849706.8A CN201910849706A CN110557569A CN 110557569 A CN110557569 A CN 110557569A CN 201910849706 A CN201910849706 A CN 201910849706A CN 110557569 A CN110557569 A CN 110557569A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0272—System arrangements wherein the object is to detect exact location of child or item using triangulation other than GPS
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention provides an intelligent monitoring system and a monitoring method integrating ultra wide band AoA positioning and video tracking, wherein the monitoring system comprises an ultra wide band positioning tag, an integrated monitoring terminal and a background management unit, and the ultra wide band positioning tag and the background management unit are both connected with the integrated monitoring terminal and realize bidirectional data transmission; the integrated monitoring terminal comprises an ultra wide band AoA positioning module, a control/processing module, a video monitoring module, a holder, a terminal power management module and an interface; the ultra-wideband AoA positioning module, the video monitoring module, the holder and the interface are all connected with the control/processing module and realize bidirectional data transmission; the terminal power supply management module is respectively connected with the control/processing module and the one-way connection; the video monitoring module is respectively connected with the holder and the interface and realizes bidirectional data transmission; the system has the functions of positioning and video monitoring, can realize active target monitoring, and can realize 360-degree non-blind area monitoring of a single monitoring terminal.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to an intelligent monitoring system and method integrating ultra wide band AoA positioning and video tracking.
Background
when the regional control, usually need monitor 360 degrees no blind areas in the control region, traditional video monitoring system adopts a plurality of fixed rifle bolts to realize the no blind area of appointed area and covers usually, when monitoring the tracking to the moving target in the region, usually need switch between a plurality of control pictures, along with the intelligent development of monitoring technique, novel video monitoring system passes through the mode of programming, it realizes no blind area control to cruise the scanning according to the route of patrolling that sets up in advance, can discern the target motion in the control range simultaneously, and can control the cloud platform and track the moving target, the blind area problem has been solved to a certain extent, nevertheless cruise the scanning belongs to 360 degrees scans of polling formula, there is the time interval in twice scanning, can cause the omission of target, and frequent cruise scanning also can accelerate the mechanical loss of video monitoring terminal.
Indoor positioning technology is continuously developed, and indoor application of Wireless positioning technologies such as Wireless local area networks (WIFI), Bluetooth (Bluetooth), Ultra Wide Band (UWB) and the like is continuously developed, wherein the Ultra wide band technology adopts nanosecond-level pulses to carry information, time resolution is extremely high, accurate distance measurement and accurate positioning can be achieved, and the method is widely applied to the field of security monitoring. Meanwhile, the development of a positioning video linkage complementary technology is promoted.
the currently common indoor positioning technologies include:
(1) Wi-Fi positioning: the Wireless Local Area Network (WLAN) formed by wireless access points (including wireless routers) can realize positioning, monitoring and tracking tasks in a complex environment; the method is based on and precondition of position information of network node (wireless access point), and adopts a mode of combining empirical test and signal propagation model to position the accessed mobile device; the method has the disadvantages that the positioning precision is not high, the positioning precision is 1-20 meters, and the positioning process is greatly influenced by environmental factors, such as the floor distance and the positioning space.
(2) bluetooth positioning technology: the Bluetooth communication is a short-distance low-power-consumption wireless transmission technology, after a proper Bluetooth local area network access point is installed indoors, a network is configured into a basic network connection mode based on multiple users, and the Bluetooth local area network access point is guaranteed to be always the main equipment of the micro network, so that the position information of the users can be obtained by detecting the signal intensity; bluetooth positioning is mainly applied to positioning in a small range, and for a complex space environment, a Bluetooth positioning system is slightly poor in stability and greatly interfered by noise signals.
(3) the infrared positioning technology comprises the following steps: the infrared technology indoor positioning is that each mobile device, usually an infrared IR mark, is received by an optical sensor installed indoors, and the infrared ray modulated by the infrared sensor is emitted for positioning, so that the indoor positioning precision is high; however, since light cannot pass through the barrier, infrared rays can only be transmitted within the sight distance and are easily interfered by light, the transmission distance of infrared rays is short, the indoor positioning effect is poor, and the cost of the infrared positioning device is high.
(4) Ultrasonic positioning technology: the ultrasonic positioning mainly adopts reflection type distance measurement, the distance between the ultrasonic wave and the measured object is calculated according to the time difference between the echo and the transmitted wave after the ultrasonic wave is transmitted and the echo generated by the measured object is received, and the position of the object is determined by algorithms such as triangular positioning and the like; the ultrasonic positioning has high overall positioning precision and simple system structure, but is easily influenced by multipath effect and non-line-of-sight propagation, the positioning precision is correspondingly reduced, and simultaneously, the ultrasonic positioning also needs a large amount of investment and construction of bottom hardware facilities, and the overall cost is higher.
(5) the RFID positioning technology comprises the following steps: the RFID positioning technology utilizes a radio frequency mode to perform non-contact two-way communication data exchange, realizes the purposes of mobile equipment identification and positioning, can obtain centimeter-level positioning accuracy information within a few milliseconds, and has large transmission range and lower cost; however, due to the short range of action, the problems of security and privacy protection of users, inconvenience in integration of the RFID into the mobile device, international standardization and the like cannot be solved, and the application range is limited.
because the existing indoor positioning technologies all have disadvantages, an intelligent monitoring system integrating ultra-wideband AoA positioning and video tracking, which has the advantages of good positioning effect, high speed and high precision and can follow a target, needs to be developed.
Disclosure of Invention
The invention provides an intelligent monitoring system integrating ultra wide band AoA positioning and video tracking, which is characterized in that an object is positioned by utilizing ultra wide band ranging and multi-element antenna array direction finding, and then a video monitoring module is controlled to rotate by utilizing direction finding information of the AoA, so that active object monitoring is realized and no blind area exists.
in order to solve the technical problem, the technical scheme of the invention is realized as follows: the intelligent monitoring system integrating ultra-wideband AoA positioning and video tracking comprises an ultra-wideband positioning tag, an integrated monitoring terminal and a background management unit, wherein the ultra-wideband positioning tag and the background management unit are both connected with the integrated monitoring terminal and realize bidirectional data transmission; the integrated monitoring terminal comprises an ultra wide band AoA positioning module, a control/processing module, a video monitoring module, a holder, a terminal power management module and an interface; the ultra-wideband AoA positioning module, the video monitoring module, the holder and the interface are all connected with the control/processing module and realize bidirectional data transmission; the terminal power supply management module is respectively connected with the control/processing module and the unidirectional connector; the video monitoring module is respectively connected with the holder and the interface and realizes bidirectional data transmission; the ultra-wideband positioning tag is used for sending or receiving an ultra-wideband positioning frame; the terminal power supply management module is used for providing power supply management for the integrated monitoring terminal; the interface is used for the integrated monitoring terminal to communicate with the background management unit to transmit images and positioning information and receive instruction information of the background management unit; the background management unit is used for carrying out configuration management on the integrated monitoring terminal and processing received positioning and image information in real time; the holder is used for adjusting the monitoring direction of the visual monitoring module.
by adopting the technical scheme, the ultra wide band AoA is combined with video tracking, ultra wide band ranging and multi-element antenna array direction finding are used for positioning the target, then the direction finding information of the AoA is used for controlling the video monitoring module to rotate, so that active target monitoring is realized, the intelligent monitoring system integrating ultra wide band AoA positioning and video tracking simultaneously has the positioning and video monitoring functions, can realize 360-degree blind area-free monitoring of a single monitoring terminal, and is high in positioning precision. The adopted tripod head is the prior art, the tripod head is a supporting platform of a camera, and the tripod head is supporting equipment for installing and fixing the camera and is divided into a fixed tripod head and an electric tripod head; the fixed tripod head is suitable for the condition that the monitoring range is not large, the horizontal and pitching angles of the camera can be adjusted after the camera is installed on the fixed tripod head, and the adjusting mechanism can be locked after the best working posture is achieved; the electric pan-tilt is suitable for scanning and monitoring a large range, and can enlarge the monitoring range of the camera; the high-speed attitude of the electric cradle head is realized by two actuating motors, and the motors receive signals from the controller to accurately operate and position; under the action of the control signal, the camera on the pan-tilt can not only automatically scan the monitoring area, but also track the monitored object under the control of the monitoring center operator; the electric pan-tilt is adopted in the technical scheme.
the invention is further improved in that the ultra-wideband positioning tag comprises a main control module, an ultra-wideband transceiver module and a power supply module; the power supply module is respectively connected with the main control module and the ultra-wideband transceiver module in a unidirectional mode and is used for supplying power to the main control module and the ultra-wideband transceiver module; the ultra-wideband transceiver module is connected with the main control module and realizes bidirectional data transmission.
the invention is further improved in that the ultra-wideband AoA positioning module comprises an array antenna module and an ultra-wideband transceiving module, the array antenna module is connected with the ultra-wideband transceiving module and realizes bidirectional data transmission, the ultra-wideband AoA positioning module is connected with the control/processing module through the ultra-wideband transceiving module and realizes bidirectional data connection, and the power supply module is connected with the ultra-wideband AoA positioning module through the ultra-wideband transceiving module and supplies power to the ultra-wideband AoA positioning module; the ultra-wideband AoA positioning module is used for sending and receiving ultra-wideband signals, when the ultra-wideband AoA positioning module receives a positioning frame sent by an ultra-wideband positioning tag, phase values of array elements of an antenna array are obtained for AoA estimation, and a confirmation frame is sent to the ultra-wideband positioning tag for ranging.
The invention is further improved in that the ultra-wideband positioning tag further comprises an alarm, the alarm is connected with the main control module and realizes bidirectional data transmission, and the alarm is connected with the power module.
The invention is further improved in that the ultra-wideband positioning tag further comprises a single antenna module, and the ultra-wideband transceiver module is connected with the single antenna module and realizes unidirectional data transmission from the ultra-wideband transceiver module to the single antenna module.
As a preferred technical solution of the present invention, the interface is an ethernet interface, and is used for the integrated monitoring terminal to communicate with the background management unit to transmit images and positioning information, and receive instruction information of the background management unit.
As a preferred technical solution of the present invention, the ultra-wideband transceiver module is an ultra-wideband wireless transceiver module.
As a preferred technical scheme of the invention, the ultra-wideband transceiver module is an ultra-wideband wireless transceiver module.
The invention also provides a monitoring method of the intelligent monitoring system integrating the ultra-wideband AoA positioning and the video tracking, which is characterized in that the target is positioned by using ultra-wideband ranging and direction finding of the multi-element antenna array, and then the video monitoring module is controlled to rotate by using the direction finding information of the AoA, so that the active target monitoring is realized and no blind area exists.
In order to solve the technical problem, the technical scheme of the invention is realized as follows: the monitoring method of the integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system comprises the following steps:
(1) the integrated monitoring terminal is arranged at the top of an indoor independent space, and the ultra-wideband positioning tag is arranged on an object or a person to be monitored;
(2) A background management unit presets a monitoring area and a dangerous area fence of the integrated monitoring terminal; (3) the ultra-wideband positioning tag transmits an ultra-wideband positioning request frame, the ultra-wideband AoA positioning module receives the ultra-wideband positioning request frame through the array antenna module, a plurality of phase values are used for acquiring an arrival phase value, and an azimuth angle of the ultra-wideband positioning tag relative to the integrated monitoring terminal is acquired through spectrum estimation; calculating by adopting an algorithm to obtain distance information and direction finding information;
(4) The ultra-wideband AoA positioning module sends the distance information and the direction finding information to a control/processing module, and the control/processing module controls a holder to rotate according to the received distance information and direction finding information so as to adjust the monitoring direction of a video monitoring module through the holder;
(5) The integrated monitoring terminal transmits monitoring video information and positioning information to the background management unit in real time through the Ethernet interface, the background management unit processes image data and positioning information in the monitoring video information in real time, and when the monitored object or person is close to a dangerous area through processed information, the background management unit sends an alarm instruction to the integrated monitoring terminal, the integrated monitoring terminal sends the alarm instruction through an ultra-wideband link to the ultra-wideband positioning label, so that the master control module of the ultra-wideband positioning label controls the alarm to send alarm information.
As a preferred technical solution of the present invention, the step (3) adopts a bilateral two-way ranging algorithm for calculation, and the specific steps are as follows:
After receiving the positioning ultra-wideband positioning request frame, the ultra-wideband AoA positioning module sends a response frame, and the distance between the ultra-wideband positioning tag and the integrated monitoring terminal is measured by using a two-way flight ranging method; wherein the calculation formula of the bilateral two-way distance measurement isWherein, Tpropthe method comprises the steps of representing the transmission time of a label to an ultra wide band AoA positioning module signal; t isround1The representation is based on the clock of the label; the time, T, required for the tag to send a positioning request frame to receive a response frame of the ultra-wideband AoA positioning moduleround2The time required by the ultra-wideband AoA positioning module to send a response frame to receive the response frame of the label is represented by taking the clock of the ultra-wideband AoA positioning module as a reference; t isrepley1The time required by the positioning module from receiving the request frame to sending the response frame is represented by taking the clock of the ultra-wideband AoA positioning module as a reference; t isrepley2Indicating the time required for the tag to receive a response frame and to transmit the response frame, based on the tag's clock.
Compared with the prior art, the invention has the following beneficial effects: through the ultra wide band location technique, have integrated monitor terminal, have location and video monitoring function simultaneously to can realize active target monitoring, can realize that single monitor terminal 360 degrees do not have the blind area control.
Drawings
FIG. 1 is a schematic structural diagram of an integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system according to the present invention;
FIG. 2 is a block diagram of an ultra-wideband positioning tag of the integrated ultra-wideband AoA positioning and video tracking intelligent surveillance system of the present invention;
Fig. 3 is a schematic diagram of the ultra wide band bidirectional flight ranging principle in the monitoring method of the intelligent monitoring system integrating ultra wide band AoA positioning and video tracking according to the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the drawings of the embodiments of the present invention.
example (b): as shown in fig. 1-2, the intelligent monitoring system integrating ultra-wideband AoA positioning and video tracking comprises an ultra-wideband positioning tag, an integrated monitoring terminal and a background management unit, wherein the ultra-wideband positioning tag and the background management unit are both connected with the integrated monitoring terminal and realize bidirectional data transmission; the integrated monitoring terminal comprises an ultra wide band AoA positioning module, a control/processing module, a video monitoring module, a holder, a terminal power management module and an interface; the ultra-wideband AoA positioning module, the video monitoring module, the holder and the interface are all connected with the control/processing module and realize bidirectional data transmission; the terminal power supply management module is respectively connected with the control/processing module and the unidirectional connector; the video monitoring module is respectively connected with the holder and the interface and realizes bidirectional data transmission; the ultra-wideband positioning tag is used for sending or receiving an ultra-wideband positioning frame; the terminal power supply management module is used for providing power supply management for the integrated monitoring terminal; the interface is used for the integrated monitoring terminal to communicate with the background management unit to transmit images and positioning information and receive instruction information of the background management unit; the background management unit is used for carrying out configuration management on the integrated monitoring terminal and processing received positioning and image information in real time; the holder is used for adjusting the monitoring direction of the visual monitoring module; the ultra-wideband positioning tag comprises a main control module, an ultra-wideband transceiver module and a power supply module; the power supply module is respectively connected with the main control module and the ultra-wideband transceiver module in a unidirectional mode and is used for supplying power to the main control module and the ultra-wideband transceiver module; the ultra-wideband transceiver module is connected with the main control module and realizes bidirectional data transmission; the ultra-wideband AoA positioning module comprises an array antenna module and an ultra-wideband transceiving module, the array antenna module is connected with the ultra-wideband transceiving module and realizes bidirectional data transmission, the ultra-wideband AoA positioning module is connected with the control/processing module through the ultra-wideband transceiving module and realizes bidirectional data connection, and the power supply module is connected with the ultra-wideband AoA positioning module through the ultra-wideband transceiving module and supplies power to the ultra-wideband AoA positioning module; the ultra-wideband AoA positioning module is used for sending and receiving ultra-wideband signals, when the ultra-wideband AoA positioning module receives a positioning frame sent by an ultra-wideband positioning tag, phase values of array elements of an antenna array are obtained for AoA estimation, and a confirmation frame is sent to the ultra-wideband positioning tag for ranging; the ultra-wideband positioning tag also comprises an alarm, the alarm is connected with the main control module and realizes bidirectional data transmission, and the alarm is connected with the power supply module; the ultra-wideband positioning tag also comprises a single antenna module, and the ultra-wideband transceiver module is connected with the single antenna module and realizes unidirectional data transmission from the ultra-wideband transceiver module to the single antenna module; the interface is an Ethernet interface and is used for communicating and transmitting images and positioning information between the integrated monitoring terminal and the background management unit and receiving instruction information of the background management unit; the ultra-wideband transceiver module is an ultra-wideband wireless transceiver module; the ultra-wideband transceiver module is an ultra-wideband wireless transceiver module.
The monitoring method of the integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system comprises the following steps:
(1) the integrated monitoring terminal is arranged at the top of an indoor independent space, and the ultra-wideband positioning tag is arranged on an object or a person to be monitored;
(2) a background management unit presets a monitoring area and a dangerous area fence of the integrated monitoring terminal;
(3) The ultra-wideband positioning tag transmits an ultra-wideband positioning request frame, the ultra-wideband AoA positioning module receives the ultra-wideband positioning request frame through the array antenna module, a plurality of phase values are used for acquiring an arrival phase value, and an azimuth angle of the ultra-wideband positioning tag relative to the integrated monitoring terminal is acquired through spectrum estimation; calculating by adopting an algorithm to obtain distance information and direction finding information;
As shown in fig. 3, the step (3) adopts a bilateral two-way ranging algorithm for calculation, and the specific steps are as follows:
After receiving the positioning ultra-wideband positioning request frame, the ultra-wideband AoA positioning module sends a response frame, and the distance between the ultra-wideband positioning tag and the integrated monitoring terminal is measured by using a two-way flight ranging method; wherein the calculation formula of the bilateral two-way distance measurement isWherein, TpropThe method comprises the steps of representing the transmission time of a label to an ultra wide band AoA positioning module signal; t isround1The representation is based on the clock of the label; the time, T, required for the tag to send a positioning request frame to receive a response frame of the ultra-wideband AoA positioning moduleround2The time required by the ultra-wideband AoA positioning module to send a response frame to receive the response frame of the label is represented by taking the clock of the ultra-wideband AoA positioning module as a reference; t isrepley1The time required by the positioning module from receiving the request frame to sending the response frame is represented by taking the clock of the ultra-wideband AoA positioning module as a reference; t isrepley2Indicating the time required for the tag to receive a response frame and to transmit the response frame, based on the tag's clock.
(4) The ultra-wideband AoA positioning module sends the distance information and the direction finding information to a control/processing module, the control/processing module processes the received distance information and the received direction finding information to obtain control parameters, and then a tripod head is controlled to rotate so as to adjust the alignment direction of a video monitoring module through the tripod head to dynamically track a target in real time;
(5) the integrated monitoring terminal transmits monitoring video information and positioning information to the background management unit in real time through the Ethernet interface, the background management unit processes image data and positioning information in the monitoring video information in real time, and when the monitored object or person is close to a dangerous area through processed information, the background management unit sends an alarm instruction to the integrated monitoring terminal, the integrated monitoring terminal sends the alarm instruction through an ultra-wideband link to the ultra-wideband positioning label, so that the master control module of the ultra-wideband positioning label controls the alarm to send alarm information.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as 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 (10)
1. An intelligent monitoring system integrating ultra-wideband AoA positioning and video tracking is characterized by comprising an ultra-wideband positioning tag, an integrated monitoring terminal and a background management unit, wherein the ultra-wideband positioning tag and the background management unit are both connected with the integrated monitoring terminal and realize bidirectional data transmission; the integrated monitoring terminal comprises an ultra wide band AoA positioning module, a control/processing module, a video monitoring module, a holder, a terminal power management module and an interface; the ultra-wideband AoA positioning module, the video monitoring module, the holder and the interface are all connected with the control/processing module and realize bidirectional data transmission; the terminal power supply management module is respectively connected with the control/processing module and the unidirectional connector; the video monitoring module is respectively connected with the holder and the interface and realizes bidirectional data transmission; the ultra-wideband positioning tag is used for sending or receiving an ultra-wideband positioning frame; the terminal power supply management module is used for providing power supply management for the integrated monitoring terminal; the interface is used for the integrated monitoring terminal to communicate with the background management unit to transmit images and positioning information and receive instruction information of the background management unit; the background management unit is used for carrying out configuration management on the integrated monitoring terminal and processing received positioning and image information in real time; the holder is used for adjusting the monitoring direction of the visual monitoring module.
2. The integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system according to claim 1, wherein the ultra-wideband positioning tag comprises a master control module, an ultra-wideband transceiver module and a power supply module; the power supply module is respectively connected with the main control module and the ultra-wideband transceiver module in a unidirectional mode and is used for supplying power to the main control module and the ultra-wideband transceiver module; the ultra-wideband transceiver module is connected with the main control module and realizes bidirectional data transmission.
3. The system of claim 1, wherein the ultra-wideband AoA positioning module comprises an array antenna module and an ultra-wideband transceiver module, the array antenna module is connected with the ultra-wideband transceiver module and implements bidirectional data transmission, the ultra-wideband AoA positioning module is connected with the control/processing module through the ultra-wideband transceiver module and implements bidirectional data connection, and the power supply module is connected with the ultra-wideband AoA positioning module through the ultra-wideband transceiver module and provides power for the ultra-wideband AoA positioning module; the ultra-wideband AoA positioning module is used for sending and receiving ultra-wideband signals, when the ultra-wideband AoA positioning module receives a positioning frame sent by an ultra-wideband positioning tag, phase values of array elements of an antenna array are obtained for AoA estimation, and a confirmation frame is sent to the ultra-wideband positioning tag for ranging.
4. The integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system according to claim 2, wherein the ultra-wideband positioning tag further comprises an alarm, the alarm is connected with the main control module and realizes bidirectional data transmission, and the alarm is connected with the power supply module.
5. The integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system according to claim 2, wherein the ultra-wideband positioning tag further comprises a single antenna module, and the ultra-wideband transceiver module is connected with the single antenna module and realizes unidirectional data transmission from the ultra-wideband transceiver module to the single antenna module.
6. The integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system according to any one of claims 1-5, wherein the interface is an Ethernet interface, and is used for the integrated monitoring terminal to communicate with a background management unit to transmit image and positioning information and receive instruction information of the background management unit.
7. The integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system according to claim 2, wherein the ultra-wideband transceiver module is an ultra-wideband wireless transceiver module.
8. The integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system according to claim 3, wherein the ultra-wideband transceiver module is an ultra-wideband wireless transceiver module.
9. A monitoring method of an intelligent monitoring system integrating ultra wide band AoA positioning and video tracking according to any one of claims 1-8, comprising the steps of:
(1) The integrated monitoring terminal is arranged at the top of an indoor independent space, and the ultra-wideband positioning tag is arranged on an object or a person to be monitored;
(2) A background management unit presets a monitoring area and a dangerous area fence of the integrated monitoring terminal;
(3) The ultra-wideband positioning tag transmits an ultra-wideband positioning request frame, the ultra-wideband AoA positioning module receives the ultra-wideband positioning request frame through the array antenna module, a plurality of phase values are used for acquiring an arrival phase value, and an azimuth angle of the ultra-wideband positioning tag relative to the integrated monitoring terminal is acquired through spectrum estimation; calculating by adopting an algorithm to obtain distance information and direction finding information;
(4) The ultra-wideband AoA positioning module sends the distance information and the direction finding information to a control/processing module, and the control/processing module controls a holder to rotate according to the received distance information and direction finding information so as to adjust the monitoring direction of a video monitoring module through the holder;
(5) the integrated monitoring terminal transmits monitoring video information and positioning information to the background management unit in real time through the Ethernet interface, the background management unit processes image data and positioning information in the monitoring video information in real time, and when the monitored object or person is close to a dangerous area through processed information, the background management unit sends an alarm instruction to the integrated monitoring terminal, the integrated monitoring terminal sends the alarm instruction through an ultra-wideband link to the ultra-wideband positioning label, so that the master control module of the ultra-wideband positioning label controls the alarm to send alarm information.
10. The monitoring method of the integrated ultra-wideband AoA positioning and video tracking intelligent monitoring system according to claim 9, wherein the step (3) adopts a bilateral two-way ranging algorithm for calculation, and comprises the following specific steps:
After receiving the positioning ultra-wideband positioning request frame, the ultra-wideband AoA positioning module sends a response frame, and the distance between the ultra-wideband positioning tag and the integrated monitoring terminal is measured by using a two-way flight ranging method; wherein the calculation formula of the bilateral two-way distance measurement is
wherein, TpropThe method comprises the steps of representing the transmission time of a label to an ultra wide band AoA positioning module signal; t isround1The representation is based on the clock of the label; the time, T, required for the tag to send a positioning request frame to receive a response frame of the ultra-wideband AoA positioning moduleround2The time required by the ultra-wideband AoA positioning module to send a response frame to receive the response frame of the label is represented by taking the clock of the ultra-wideband AoA positioning module as a reference; t isrepley1The time required by the positioning module from receiving the request frame to sending the response frame is represented by taking the clock of the ultra-wideband AoA positioning module as a reference; t isrepley2indicating the time required for the tag to receive a response frame and to transmit the response frame, based on the tag's clock.
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Cited By (2)
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| CN111200869A (en) * | 2019-12-25 | 2020-05-26 | 郑州联睿电子科技有限公司 | Device and system integrating UWB single base station positioning and wireless data transmission |
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