CN110662287A - Method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning - Google Patents
Method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning Download PDFInfo
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- CN110662287A CN110662287A CN201910782898.5A CN201910782898A CN110662287A CN 110662287 A CN110662287 A CN 110662287A CN 201910782898 A CN201910782898 A CN 201910782898A CN 110662287 A CN110662287 A CN 110662287A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning, which defines nodes: a base station node, a tag node and a coordinator node; coordinates of the base station node and the coordinator node are known in a positioning system; the coordinator node sends the ultra-wideband information to the base station node, the base station node calculates the time delay of the distance between the base station node and the coordinator node when the ultra-wideband information is sent by utilizing the timestamp in the ultra-wideband information sent by the coordinator node, and then the clock of the base station node is updated to realize clock synchronization; the label node sends the ultra-wideband information to the base station node, and the base station node records the time of receiving the ultra-wideband information, so that the coordinates of the label node are calculated through an arrival time difference algorithm; compared with a positioning method based on signal flight time, the method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning greatly increases the number of labels in a positioning system and does not need to lay a communication line.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning.
Background
The ultra-wideband communication is the indoor positioning solution with the highest precision at present, and the commonly used ultra-wideband positioning algorithms mainly comprise two types, one is a ranging algorithm based on signal flight time, and the other is a clock synchronization algorithm based on arrival difference time. The algorithm based on the signal flight time is simple to implement, the distance between two points is obtained mainly by calculating the flight time of electromagnetic waves between the two points, and the anti-collision protocol of a tag node and a base station node is required to be more complex, so that the capacity of the tag node of the positioning system is smaller. The clock synchronization algorithm based on the arrival time difference firstly calculates the arrival time difference to determine the distance between the label node and the base station node, and then calculates the position of the label node in a triangulation positioning mode, the clock synchronization requirement between the base station nodes is strict, the base station nodes are generally required to be connected through wires, but the deployment complexity of the positioning system can be improved, and particularly the positioning system is oriented to a more complex positioning environment.
Disclosure of Invention
The invention aims to provide a method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning on the basis of the existing ultra-wideband positioning algorithm and for solving the problems.
The purpose of the invention can be realized by the following technical scheme:
the invention provides a method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning, which defines nodes: a base station node, a tag node and a coordinator node; wherein the coordinates of the base station node and coordinator node are known in a positioning system; the coordinator node sends the ultra-wideband information to the base station node, the base station node calculates the time delay of the distance between the base station node and the coordinator node when the ultra-wideband information is sent by utilizing the timestamp in the ultra-wideband information sent by the coordinator node, and then the clock of the base station node is updated to realize clock synchronization; the label node sends the ultra-wideband information to the base station node, and the base station node records the time of receiving the ultra-wideband information, so that the coordinates of the label node are calculated through an arrival time difference algorithm.
Preferably, the invention uses a dw1000 chip to modulate and demodulate the ultra-wideband signal, and the dw1000 chip is controlled by a control chip.
Preferably, the ultra-wideband communication of the present invention complies with the IEEE 802.15.4UWB PHY standard, each ultra-wideband frame is transmitted with a timestamp of the first character of the physical layer header, the dw1000 chip records the value of the system clock counter as the original timestamp when processing the information, and the controller configures the dw1000 chip to calculate the delay time of the information to the antenna to obtain a more accurate timestamp.
In a preferred embodiment, the base station nodes are three base station nodes a, B and C which are respectively and arbitrarily assigned, and when positioning is performed, the tag node sends information to the three base station nodes, at this time, clock synchronization is completed among the three base station nodes, the three base station nodes only need to respectively record received timestamps, a clock synchronization algorithm can be used, the distance between the tag node and the base station node is determined by calculating the arrival time difference, and then the coordinates of the tag node are calculated by a triangular positioning mode.
More preferably, the base station node a coordinates are (x)1，y1) The base station node B coordinates are (x)2，y2) The coordinate of the base station node C is (x)3，y3) The formula for calculating the coordinates of the label nodes is as follows:
in the above formula: x and y respectively represent parameters of the solved label node; c represents the speed of light propagation in air; t is t1、t2、t3Respectively representing the time of the ultra-wideband information sent by the label node to reach the base station node A, the base station node B and the base station node C.
In a preferred embodiment, data is transmitted between the tag node and the base station node using narrow pulses of non-sinusoidal waveforms in the nanosecond range.
In a preferred embodiment, the time difference between the time received by the base station node and the time sent by the coordinator node is recorded for a plurality of times (e.g., at least two times, at least three times, at least five times), and the average of the time difference is taken as the time delay.
In a preferred embodiment, the coordinator node and the base station node calculate the signal flight time therebetween through a signal flight time algorithm, and the signal flight time is initiated by the base station node and responded when the coordinator node and the base station node communicate.
In a preferred embodiment, the coordinator node and the base station node need to perform time data initialization before positioning and sending the ultra-wideband information to the base station node by the tag node, the initialization process is a passing signal flight time algorithm between the coordinator node and the base station node so as to calculate the signal flight time between the coordinator node and the base station node, the communication is initiated by the base station node, the coordinator node responds, and the response information sent by the coordinator node contains the timestamp of the coordinator node.
In a preferred embodiment, the base station node updates the clock of the base station node according to the flight time of the signal at the distance from the coordinator node and the timestamp of the response message generated by the coordinator node, so as to complete the clock synchronization between the base station node and the coordinator node, and the base station node and the coordinator node perform clock synchronization at a certain frequency. Clock information is acquired between the base station node and the coordinator node using an IP transport scheme.
The second aspect of the present invention provides a system for implementing wireless clock synchronization and information aggregation in ultra-wideband positioning, comprising: a base station node, a tag node and a coordinator node; the method comprises the steps that a coordinator node sends ultra-wideband information to a base station node, the base station node calculates time delay occurring in the distance between the base station node and the coordinator node when the ultra-wideband information is sent by utilizing a timestamp in the ultra-wideband information sent by the coordinator node, and then the clock of the base station node is updated to achieve clock synchronization; the label node sends the ultra-wideband information to the base station node, and the base station node records the time of receiving the ultra-wideband information, so that the coordinates of the label node are calculated through an arrival time difference algorithm.
Preferably, the invention uses a dw1000 chip to modulate and demodulate the ultra-wideband signal, and the dw1000 chip is controlled by a control chip.
Preferably, the ultra-wideband communication of the present invention complies with the IEEE 802.15.4UWB PHY standard, each ultra-wideband frame is transmitted with a timestamp of the first character of the physical layer header, the dw1000 chip records the value of the system clock counter as the original timestamp when processing the information, and the controller configures the dw1000 chip to calculate the delay time of the information to the antenna to obtain a more accurate timestamp.
In a preferred embodiment, the base station nodes are three base station nodes a, B and C which are respectively and arbitrarily assigned, and when positioning is performed, the tag node sends information to the three base station nodes, at this time, clock synchronization is completed among the three base station nodes, the three base station nodes only need to respectively record received timestamps, a clock synchronization algorithm can be used, the distance between the tag node and the base station node is determined by calculating the arrival time difference, and then the coordinates of the tag node are calculated by a triangular positioning mode.
More preferably, the base station node a coordinates are (x)1，y1) The base station node B coordinates are (x)2，y2) The coordinate of the base station node C is (x)3，y3) The formula for calculating the coordinates of the label nodes is as follows:
in the above formula: x and y respectively represent parameters of the solved label node; c represents the speed of light propagation in air; t is t1、t2、t3Respectively representing the time of the ultra-wideband information sent by the label node to reach the base station node A, the base station node B and the base station node C.
In a preferred embodiment, data is transmitted between the tag node and the base station node using narrow pulses of non-sinusoidal waveforms in the nanosecond range.
In a preferred embodiment, the time difference between the time received by the base station node and the time sent by the coordinator node is recorded for a plurality of times (e.g., at least two times, at least three times, at least five times), and the average of the time difference is taken as the time delay.
In a preferred embodiment, the coordinator node and the base station node calculate the signal flight time therebetween through a signal flight time algorithm, and the signal flight time is initiated by the base station node and responded when the coordinator node and the base station node communicate.
In a preferred embodiment, the coordinator node and the base station node need to perform time data initialization before positioning and sending the ultra-wideband information to the base station node by the tag node, the initialization process is a passing signal flight time algorithm between the coordinator node and the base station node so as to calculate the signal flight time between the coordinator node and the base station node, the communication is initiated by the base station node, the coordinator node responds, and the response information sent by the coordinator node contains the timestamp of the coordinator node.
In a preferred embodiment, the base station node updates the clock of the base station node according to the flight time of the signal at the distance from the coordinator node and the timestamp of the response message generated by the coordinator node, so as to complete the clock synchronization between the base station node and the coordinator node, and the base station node and the coordinator node perform clock synchronization at a certain frequency. Clock information is acquired between the base station node and the coordinator node using an IP transport scheme.
Compared with the existing indoor positioning technology, the invention realizes the calculation of the coordinates of the label nodes by utilizing the label nodes to send the ultra-wideband information to the base station nodes and the arrival time difference algorithm. Compared with a positioning method based on signal flight time, the method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning greatly increases the number of label nodes in a positioning system and does not need to lay a communication line.
Drawings
Fig. 1 is a communication structure diagram of a method for implementing wireless clock synchronization and information aggregation in ultra-wideband positioning according to the present invention.
The reference numerals are explained below:
1. a base station node; 2. a coordinator node; 3. a label node; the dotted line represents clock synchronization communication; the solid lines represent positioning communications.
Detailed Description
In the invention, a tag node 3 is worn by a target to be positioned, the coordinates of a base station node 1 are known and are arranged in an environment to be positioned, the tag node 3 and the base station node 1 communicate through an ultra-wideband, the key step of time calculation is completed, and then the coordinates of the tag node 3 are calculated, so that indoor positioning is realized. The coordinator node 2 communicates with the base station nodes 1 through ultra-wideband, and nanosecond-level clock synchronization is performed on all the base station nodes 1 to assist the tag node 3 and the base station nodes 1 in accurately calculating time. The invention will be further described with reference to the accompanying figure 1:
example 1
As shown in fig. 1, a method for implementing wireless clock synchronization and information aggregation in ultra-wideband positioning mainly includes three node devices: base station node 1, tag node 3 and coordinator node 2. The key point of the realization of the three devices is the realization of ultra-wideband communication, the invention uses a dw1000 chip to modulate and demodulate ultra-wideband signals, and the dw1000 chip is controlled by a control chip. Wherein the coordinates of the base station node 1 and coordinator node 2 are known in a positioning system; the coordinator node 2 sends the ultra-wideband information to the base station node 1, the base station node 1 calculates the time delay generated by the distance between the base station node 1 and the coordinator node 2 when the ultra-wideband information is sent by utilizing the timestamp in the ultra-wideband information sent by the coordinator node 2, and then the clock of the base station node 1 is updated to realize clock synchronization; the label node 3 sends the ultra-wideband information to the base station node 1, and the base station node 1 records the time of receiving the ultra-wideband information, so that the coordinates of the label node 3 are calculated through an arrival time difference algorithm.
Example 2
On the basis of embodiment 1, the ultra-wideband communication of the invention follows the IEEE 802.15.4UWB PHY standard, each ultra-wideband frame is sent with a timestamp time when the first character mark of the physical layer header is processed, the dw1000 chip records the value of the system clock counter as the original timestamp when processing the information, the controller configures the dw1000 chip and calculates the delay time from the information to the antenna to obtain a more accurate timestamp.
Example 3
The respective timestamps can be accurately recorded between the coordinator node 2 and the base station node 1, and then the time difference between the coordinator node 2 and the base station node 1 can be calculated through one-time bidirectional communication, so that the base station node 1 can complete the all-time synchronization of the coordinator node 2. After the ultra-wideband information sent by the label node 3 reaches each base station node 1, the base station node 1 records the arrival time, and then positioning is completed through an arrival time difference algorithm.
The base station node 1 is three base station nodes A, B and C which are respectively and randomly assigned, when positioning is carried out, the label node 3 sends information to the three base station nodes 1, at the moment, clock synchronization is finished among the three base station nodes 1, the three base station nodes 1 only need to respectively record received timestamps, a clock synchronization algorithm can be utilized, the distance between the label node 3 and the base station node 1 is determined by calculating the arrival time difference, and then the coordinate of the label node 3 is calculated by a triangular positioning mode.
On the basis of the embodiment 1 or 2, the coordinate of the base station node A is (x)1，y1) The base station node B coordinates are (x)2，y2) The coordinate of the base station node C is (x)3，y3) The formula for calculating the coordinates of the tag node 3 is as follows:
in the above formula: x and y respectively represent parameters of the solved label node 3; c represents the speed of light propagation in air; t is t1、t2、t3Respectively representing the time when the ultra-wideband information sent by the tag node 3 reaches the base station node a, the base station node B and the base station node C.
Example 4
On the basis of any of the above embodiments, the coordinator node 2 and the base station node 1 need to perform time data initialization before positioning and sending the ultra-wideband information to the base station node 1 by the tag node 3, the initialization process is a passing signal flight time algorithm between the coordinator node 2 and the base station node 1, so as to calculate the signal flight time between the coordinator node 2 and the base station node 1, the communication is initiated by the base station node 1, the coordinator node 2 responds, and the response information sent by the coordinator node 2 includes the timestamp of the coordinator node 2. And the base station node 1 updates the clock of the base station node 1 according to the flight time of the signal and the timestamp of the node response information, so that the clock synchronization from the base station node 1 to the coordinator node 2 is completed, and the base station node 1 and the coordinator node 2 perform clock synchronization at a certain frequency.
Example 5
The embodiment also provides a system for realizing wireless clock synchronization and information aggregation in ultra-wideband positioning, which includes: a base station node 1, a tag node 3 and a coordinator node 2; the coordinator node 2 sends the ultra-wideband information to the base station node 1, the base station node 1 calculates the time delay generated by the distance between the base station node 1 and the coordinator node 2 when the ultra-wideband information is sent by using the timestamp in the ultra-wideband information sent by the coordinator node 2, and then updates the clock of the base station node 1 to realize clock synchronization; the label node 3 sends the ultra-wideband information to the base station node 1, and the base station node 1 records the time of receiving the ultra-wideband information, so that the coordinates of the label node 3 are calculated through an arrival time difference algorithm.
The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (10)
1. The method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning is characterized by comprising the following steps: defining a base station node, a label node and a coordinator node; wherein the coordinates of the base station node and coordinator node are known in a positioning system; the coordinator node sends the ultra-wideband information to the base station node, the base station node calculates the time delay of the distance between the base station node and the coordinator node when the ultra-wideband information is sent by utilizing the timestamp in the ultra-wideband information sent by the coordinator node, and then the clock of the base station node is updated to realize clock synchronization; the label node sends the ultra-wideband information to the base station node, and the base station node records the time of receiving the ultra-wideband information, so that the coordinates of the label node are calculated through an arrival time difference algorithm.
2. The method for implementing wireless clock synchronization and information convergence in ultra-wideband positioning according to claim 1, wherein the method comprises the following steps: and determining the distance between the label node and the base station node by calculating the arrival time difference by using a clock synchronization algorithm, and calculating the coordinates of the label node by a triangular positioning mode.
3. The method for implementing wireless clock synchronization and information convergence in ultra-wideband positioning according to claim 1, wherein the method comprises the following steps: and data are transmitted between the label node and the base station node by using nanosecond-level non-sine wave narrow pulses.
4. The method for implementing wireless clock synchronization and information convergence in ultra-wideband positioning according to claim 1, wherein the method comprises the following steps: and recording the time difference between the time received by the base station node and the time sent by the coordinator node at least twice, and averaging the time difference to obtain the time delay.
5. The method for implementing wireless clock synchronization and information convergence in ultra-wideband positioning according to claim 1, wherein the method comprises the following steps: the coordinator node and the base station node need to perform time data initialization before the tag node sends the ultra-wideband information to the base station node.
6. The method for implementing wireless clock synchronization and information convergence in ultra-wideband positioning according to claim 5, wherein the method comprises the following steps: the coordinator node and the base station node calculate the signal flight time between the coordinator node and the base station node through a signal flight time algorithm, the signal flight time is initiated by the base station node when the coordinator node and the base station node communicate, and the coordinator node responds.
7. The method for implementing wireless clock synchronization and information convergence in ultra-wideband positioning according to claim 6, wherein: the ultra-wideband information sent by the coordinator node to the base station node contains a timestamp of the coordinator node.
8. The method for implementing wireless clock synchronization and information convergence in ultra-wideband positioning according to claim 6, wherein: and the base station node updates the clock of the base station node according to the signal flight time of the distance between the base station node and the coordinator node and the timestamp of the coordinator node when the base station node generates response information, so that the clock synchronization of the base station node and the coordinator node is completed.
9. The method for implementing wireless clock synchronization and information convergence in ultra-wideband positioning according to claim 8, wherein: clock information is acquired between the base station node and the coordinator node using an IP transport scheme.
10. A system for realizing wireless clock synchronization and information convergence in ultra-wideband positioning is characterized by comprising: a base station node, a tag node and a coordinator node; the method comprises the steps that a coordinator node sends ultra-wideband information to a base station node, the base station node calculates time delay occurring in the distance between the base station node and the coordinator node when the ultra-wideband information is sent by utilizing a timestamp in the ultra-wideband information sent by the coordinator node, and then the clock of the base station node is updated to achieve clock synchronization; the label node sends the ultra-wideband information to the base station node, and the base station node records the time of receiving the ultra-wideband information, so that the coordinates of the label node are calculated through an arrival time difference algorithm.
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Inventor after: Qi Peng Inventor after: Tong Haibin Inventor after: Luo Keyan Inventor after: Yang Yulin Inventor before: Qi Peng Inventor before: Luo Keyan Inventor before: Yang Yulin |
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Application publication date: 20200107 |