CN110568401A - three-dimensional positioning method based on UWB - Google Patents
three-dimensional positioning method based on UWB Download PDFInfo
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- CN110568401A CN110568401A CN201910860982.4A CN201910860982A CN110568401A CN 110568401 A CN110568401 A CN 110568401A CN 201910860982 A CN201910860982 A CN 201910860982A CN 110568401 A CN110568401 A CN 110568401A
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Classifications
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- 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
- G01S5/0257—Hybrid positioning
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- 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
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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- 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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a UWB-based three-dimensional positioning method, which comprises the following steps: respectively placing the three base stations on three vertexes of a cube to construct three-dimensional three-base-station positioning configuration; constructing a tri-label array; respectively arranging the three labels at three vertexes of the equilateral triangle, and setting the coordinates of the middle point of the equilateral triangle as the position coordinates of the target to be detected; collecting distance data and performing Kalman filtering processing; processing the data after each label is filtered according to a chan algorithm to obtain a three-dimensional estimation coordinate; and after the estimation of the three labels is obtained, taking the midpoint as the position of the target to be detected. According to the UWB-based three-base-station positioning method, the special base station layout saves hardware resources and space resources. On the basis of finishing the three-dimensional positioning, one base station is saved compared with the traditional method, and the use cost can be reduced in the practical popularization and application. And combining Kalman filtering and the precision of a three-tag positioning method.
Description
Technical Field
the invention relates to the technical field of three-dimensional positioning methods, in particular to a UWB-based three-dimensional positioning method.
Background
with the rapid development of science and technology, smart phones and mobile internet are ubiquitous in our lives, and location-aware services such as social networks, mobile search, object recognition and the like cannot be left. The technology for outdoor accurate positioning and position navigation is mature, people are used to obtain position navigation outdoors by using a GPS, and position service based on the GPS and a map plays a very important role no matter driving on the road or walking on the street, and becomes one of applications with the largest use amount of mobile terminals. However, the layout of the indoor space is complex and changeable, so that the car is found in the parking lot, lost family members are found, and the difficulty of finding out a specific storefront and the like becomes abnormal, and for the condition that 70% -80% of the time is in the room in one day, the life style of the people can be changed by indoor positioning.
The indoor positioning is an indoor position positioning system formed by utilizing various technologies such as a wireless communication technology, base station positioning, inertial navigation and the like, and positioning and real-time monitoring of personnel, objects and the like in an indoor environment are realized. Indoor positioning technology plays more and more important roles in fire fighting, large stores, the industry of nursing homes, security monitoring, personal services and the like, for example: the user can use the mobile device to find the desired goods in the shop in combination with the prompt on the screen of the device; positioning and tracking medical equipment, medical personnel and special patients in a hospital in real time; positioning firefighters and persons waiting for rescue in a fire scene; location services based on indoor location can yield more commercial value than outdoor location, with better prospects for development if hospitals, commercial buildings, schools, etc. are taken into account.
common indoor positioning technical means include: infrared, ultrasonic, RFID location, etc., but are limited by environmental factors, such as: the ultra-wideband (UWB) technology does not use carrier waves to modulate data, uses nanosecond narrow pulses to transmit data, has a bandwidth range of 3.1 GHz-10.6 GHz, is researched in developed countries such as Mei-Ri and the like, has a very good development prospect when being applied to indoor positioning, and has the advantages of high transmission rate, high multipath resolution, low cost, good confidentiality and the like, the method has great advantages in the application of positioning, tracking and navigating of objects which are static or moving in the room and people, the indoor positioning is realized through the Ultra Wide Band (UWB) technology, the positioning precision is higher under ideal environment, the UWB signal transmitting power is extremely low, no interference is caused to other communication systems, due to the advantages, the UWB positioning technology can be widely applied to various military and civil occasions.
disclosure of Invention
in light of the above-identified technical problem, a UWB-based three-dimensional positioning system is provided. The invention mainly provides a UWB-based three-dimensional positioning method, which comprises the following steps:
step S1: respectively placing the three base stations on three vertexes of a cube to construct three-dimensional three-base-station positioning configuration;
step S2: constructing a tri-label array; respectively arranging the three labels at three vertexes of the equilateral triangle, and setting the coordinates of the middle point of the equilateral triangle as the position coordinates of the target to be detected;
Step S3: collecting distance data and performing Kalman filtering processing; measuring 2 groups of arrival time difference measurement values from the M times of targets to be measured to 3 base stations within the same time T, multiplying the time difference by the speed of light to obtain a distance difference, and obtaining M groups of measurement values Z (k) within the time T; performing Kalman filtering on the measured value Z (k) of the distance difference to obtain an estimated value of the distance difference, eliminating data with larger deviation, and taking the average value as the optimal value of the distance difference;
step S4: processing the data after each label is filtered according to a chan algorithm to obtain a three-dimensional estimation coordinate;
step S5: after the estimation of the three labels is obtained, the midpoint is taken as the position of the target to be detected;
obtaining the coordinates MS of three labels1(xa，ya，za)，MS1(xb，yb，zb)，MS3(xc，yc，zc) Then, assuming that the coordinates of the center point are MS (x, y, z), it can be obtained from the geometrical relationship:
Further, the kalman filtering specifically includes:
The system state equation and the parameter equation of the measured distance difference are respectively as follows:
X(k)＝X(k-1)
Z(k)＝X(k)+n(k)
wherein X (k) represents R at time ki，1Representing true value, Z (k) representing k time Ri，1The observed value of (a);
further predictions of the state are:
The state is estimated as:
The filter gain is:
K(k)＝p(k，k-1)[p(k，k-1)+σ2]-1；
the prediction error covariance is:
p(k，k-1)＝p(k)；
Estimation of error covariance:
p(k)＝[1-K(k)]p(k，k-1)。
furthermore, the three base stations are positioned in two dimensions, and the projection coordinates of the object on the XY plane are obtained:
the arrival times of the two signals are obtained in the step S3an estimate r of the difference21，r31Assuming that the location of the base station is known, the BS1(x1，y1，z)，BS2(x2，y2，z)，BS3(x3，y3Z), the target MS (x, y, z) to be measured, then:
Let r be1known, the following are available:
Substituting the above formula, then:
r1 2＝(x1-x)2+(y1-y)2；
Can obtain the product of1A system of nonlinear equations for unknowns:
ar1 2+br1+c＝0
Solving the formula to obtain the relation r1The 2 solutions are brought back to the following formula, and the marking of the target xy to be detected is obtained;
substituting one of the solutions into a value obtained by the following equation and r21，r31comparing, if equal, taking the solution as final xyestimating coordinates, if not, taking another set of solutions as final xyEstimating coordinates;
obtaining a z-axis coordinate according to a triangular relation:
Compared with the prior art, the invention has the following advantages:
1. according to the UWB-based three-base-station positioning method, the special base station layout saves hardware resources and space resources. On the basis of finishing the three-dimensional positioning, one base station is saved compared with the traditional method, and the use cost can be reduced in the practical popularization and application. And combining Kalman filtering and the precision of a three-tag positioning method.
2. the positioning method provided by the invention adopts a three-label cooperative positioning method, the method can greatly improve the positioning accuracy and the system stability, and in addition, the multi-label positioning system also brings some additional functions. For example, the single-tag positioning system cannot obtain the current motion attitude of the tag, and the tag co-positioning can calculate the current motion state, such as motion orientation, inclination angle and the like.
Drawings
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
fig. 1 is a schematic diagram of a base station configuration according to the present invention.
FIG. 2 is a schematic diagram of a tag array of the present invention.
fig. 3 is a schematic overall flow chart of the embodiment of the invention.
FIG. 4 is a comparison of the positioning algorithm RMSE of the present invention.
FIG. 5 is a comparison diagram of the positioning points of the positioning algorithm of the present invention.
FIG. 6 is a schematic overall flow chart of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
as shown in fig. 1 to 6, the present invention mainly utilizes a UWB-based three-dimensional positioning method, which comprises the following steps:
Step S1: respectively placing the three base stations on three vertexes of a cube to construct three-dimensional three-base-station positioning configuration;
Step S2: constructing a tri-label array; respectively arranging the three labels at three vertexes of the equilateral triangle, and setting the coordinates of the middle point of the equilateral triangle as the position coordinates of the target to be detected;
Step S3: collecting distance data and performing Kalman filtering processing; measuring 2 groups of arrival time difference measurement values from the M times of targets to be measured to 3 base stations within the same time T, multiplying the time difference by the speed of light to obtain a distance difference, and obtaining M groups of measurement values Z (k) within the time T; performing Kalman filtering on the measured value Z (k) of the distance difference to obtain an estimated value of the distance difference, eliminating data with larger deviation, and taking the average value as the optimal value of the distance difference;
step S4: processing the data after each label is filtered according to a chan algorithm to obtain a three-dimensional estimation coordinate;
Step S5: after the estimation of the three labels is obtained, the midpoint is taken as the position of the target to be detected;
obtaining the coordinates MS of three labels1(xa，ya，za)，MS1(xb，yb，zb)，MS3(xc，yc，zc) Then, assuming that the coordinates of the center point are MS (x, y, z), it can be obtained from the geometrical relationship:
As a preferred embodiment, the kalman filtering includes the following specific steps:
The system state equation and the parameter equation of the measured distance difference are respectively as follows:
X(k)＝X(k-1)
Z(k)＝X(k)+n(k)
Wherein X (k) represents R at time ki，1representing true value, Z (k) representing k time Ri，1the observed value of (a);
further predictions of the state are:
the state is estimated as:
the filter gain is:
K(k)＝p(k，k-1)[p(k，k-1)+σ2]-1；
the prediction error covariance is:
p(k，k-1)＝p(k)；
Estimation of error covariance:
p(k)＝[1-K(k)]p(k，k-1)。
in the present application, as a preferred embodiment, three base stations are two-dimensionally positioned, and projection coordinates of an object on an XY plane are obtained:
the estimated value r of the arrival time difference of the two signals is obtained in the step S321，r31Assuming that the location of the base station is known, the BS1(x1，y1，z)，BS2(x2，y2，z)，BS3(x3，y3Z), the target MS (x, y, z) to be measured, then:
let r be1known, the following are available:
Substituting the above formula, then:
r1 2＝(x1-x)2+(y1-y)2；
can obtain the product of1A system of nonlinear equations for unknowns:
ar1 2+br1+c＝0
Solving the formula to obtain the relation r1The 2 solutions are brought back to the following formula, and the marking of the target xy to be detected is obtained;
substituting one of the solutions into a value obtained by the following equation and r21，r31making a comparison, and if equal, taking this solution as the final xy estimated coordinates, e.g.if the result is not equal, taking another group of solutions as the final xy estimation coordinate;
Obtaining a z-axis coordinate according to a triangular relation:
In this embodiment, the coordinates of the three selected base stations are: BS1(0, 0, 2),The present invention was verified under the conditions of cell radius 3000 and ambient noise of 30, 60, 90, 150, 210, 300, respectively.
as shown in fig. 4, the three broken lines respectively represent the rmse of the most original three-base-station three-dimensional positioning method, the rmse of the single-tag positioning algorithm after kalman filtering, and the rmse of the three-tag three-base-station positioning algorithm, so that it can be seen that the instability degree of the most original three-base-station three-dimensional positioning method increases fastest with the increase of noise, the positioning accuracy decreases overall and increases with the increase of noise after kalman filtering, but the decrease of the algorithm accuracy becomes gentle, and the algorithm curve after the three tags are adopted is more stable. As can be seen from fig. 4 and 5, the three-dimensional positioning method of the present invention is feasible and the subsequent method of improving accuracy is also effective.
the above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. a UWB-based three-dimensional positioning method is characterized by comprising the following steps:
S1: respectively placing the three base stations on three vertexes of a cube to construct three-dimensional three-base-station positioning configuration;
S2: constructing a tri-label array; respectively arranging the three labels at three vertexes of the equilateral triangle, and setting the coordinates of the middle point of the equilateral triangle as the position coordinates of the target to be detected;
S3: collecting distance data and performing Kalman filtering processing; measuring 2 groups of arrival time difference measurement values from the M times of targets to be measured to 3 base stations within the same time T, multiplying the time difference by the speed of light to obtain a distance difference, and obtaining M groups of measurement values Z (k) within the time T; performing Kalman filtering on the measured value Z (k) of the distance difference to obtain an estimated value of the distance difference, eliminating data with larger deviation, and taking the average value as the optimal value of the distance difference;
s4: processing the data after each label is filtered according to a chan algorithm to obtain a three-dimensional estimation coordinate;
S5: after the estimation of the three labels is obtained, the midpoint is taken as the position of the target to be detected;
Obtaining the coordinates MS of three labels1(xa,ya,za),MS1(xb,yb,zb)，MS3(xc,yc,zc) Then, assuming that the coordinates of the center point are MS (x, y, z), it can be obtained from the geometrical relationship:
2. The UWB-based three-dimensional positioning method according to claim 1, further characterized in that:
the Kalman filtering comprises the following specific steps:
the system state equation and the parameter equation of the measured distance difference are respectively as follows:
X(k)＝X(k-1)
Z(k)＝X(k)+n(k)
wherein X (k) represents R at time ki,1Representing true value, Z (k) representing k time Ri,1The observed value of (a);
further predictions of the state are:
The state is estimated as:
the filter gain is:
K(k)＝p(k,k-1)[p(k,k-1)+σ2]-1；
The prediction error covariance is:
p(k,k-1)＝p(k)；
estimation of error covariance:
p(k)＝[1-K(k)]p(k,k-1)。
3. The UWB-based three-dimensional positioning method according to claim 1, further characterized in that: performing two-dimensional positioning on the three base stations to obtain projection coordinates of the object on an XY plane:
the estimated value r of the arrival time difference of the two signals is obtained in the step S321，r31assuming that the location of the base station is known, the BS1(x1,y1,z)，BS2(x2,y2,z)，BS3(x3,y3z), the target MS (x, y, z) to be measured, then:
let r be1known, the following are available:
substituting the above formula, then:
r1 2＝(x1-x)2+(y1-y)2；
can obtain the product of1a system of nonlinear equations for unknowns:
ar1 2+br1+c＝0
solving the formula to obtain the relation r1the 2 solutions are brought back to the following formula, and the marking of the target xy to be detected is obtained;
substituting one of the solutions into a value obtained by the following equation and r21，r31Comparing, if equal, taking the solution as the bestfinally estimating the coordinates by xy, and if the coordinates are unequal, taking another group of solutions as the final xy estimated coordinates;
obtaining a z-axis coordinate according to a triangular relation:
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Cited By (12)
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| CN111766561A (en) * | 2020-04-24 | 2020-10-13 | 天津大学 | Unmanned aerial vehicle positioning method based on UWB technology |
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| CN112309115B (en) * | 2020-10-27 | 2022-04-15 | 华中科技大学 | Multi-sensor fusion-based on-site and off-site continuous position detection and parking accurate positioning method |
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