CN110673092A - Ultra-wideband-based time-sharing positioning method, device and system - Google Patents
Ultra-wideband-based time-sharing positioning method, device and system Download PDFInfo
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- CN110673092A CN110673092A CN201910855036.0A CN201910855036A CN110673092A CN 110673092 A CN110673092 A CN 110673092A CN 201910855036 A CN201910855036 A CN 201910855036A CN 110673092 A CN110673092 A CN 110673092A
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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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Abstract
The embodiment of the application provides a time-sharing positioning method, a time-sharing positioning device and a time-sharing positioning system based on an ultra-wideband, wherein the method comprises the following steps: the method comprises the steps that a UWB host is used for ranging UWB target nodes at least three moments to obtain ranging distances, wherein the positions of the UWB target nodes at the at least three moments are kept unchanged; determining the position information of the UWB host at the at least three moments respectively, wherein the positions where the UWB host resides at the at least three moments are different; and positioning the UWB target node according to the ranging distance and the position information. Through the embodiment of the application, the technical problem that UWB positioning can only be carried out through a fixed base station in the related technology is solved.
Description
Technical Field
The embodiment of the application relates to the field of positioning, in particular to a time-sharing positioning method, a time-sharing positioning device and a time-sharing positioning system based on ultra wide band.
Background
In the related art, the UWB technology is a carrier-free communication technology, and data is transmitted using non-sinusoidal narrow pulses on the nanosecond to microsecond level. Following 802.15.4a standard 1. Different from WiFi, Bluetooth and Zigbee, the method can accurately measure the distance, and in the process of measuring the distance, the time of the electromagnetic wave flight between two points is calculated by adopting a mode of measuring the flight time of the light velocity, and the distance between the two points is calculated through the time. The method is used for positioning, the distance between the label and the base station is determined by calculating the time difference of arrival, and then the position of the label is calculated in a triangulation positioning mode.
In the related art, a UWB positioning system uses a fixed base station, the base station transmits a ranging or direction-finding signal to a host, and the host calculates the ranging or direction-finding signal and outputs or displays the result on a screen. The positioning system is complex, the equipment is various, generally comprises a power supply, a router, a computer host, a display and the like, and the positioning system has large installation engineering quantity and many configuration parameters.
In view of the above problems in the related art, no effective solution has been found at present.
Disclosure of Invention
The embodiment of the application provides a time-sharing positioning method, a time-sharing positioning device and a time-sharing positioning system based on ultra wide band.
According to an embodiment of the application, an ultra-wideband-based time-sharing positioning method is provided, and comprises the following steps: the method comprises the steps that a UWB host is used for ranging UWB target nodes at least three moments to obtain ranging distances, wherein the positions of the UWB target nodes at the at least three moments are kept unchanged; determining the position information of the UWB host at the at least three moments respectively, wherein the positions where the UWB host resides at the at least three moments are different; and positioning the UWB target node according to the ranging distance and the position information.
Optionally, the positioning the UWB target node according to the ranging distance and the location information includes: constructing a positioning coordinate system based on the position information of the at least three moments; and positioning the UWB target node in the positioning coordinate system according to the ranging distances of the at least three moments.
Optionally, when the position information at the at least three moments is a first position at a first moment, a second position at a second moment, and a third position at a third moment, constructing a positioning coordinate system based on the position information at the at least three moments includes: setting the first position as a coordinate origin of a two-dimensional positioning coordinate system; setting a connecting line of the first position and the second position as a first coordinate axis; setting a second coordinate axis in the direction of the first coordinate axis according to the third position, wherein the first coordinate axis is vertical to the second coordinate axis; and constructing the two-dimensional positioning coordinate system based on the coordinate origin, the first coordinate axis and the second coordinate axis.
Optionally, setting a second coordinate axis in the direction of the first coordinate axis according to the third position includes: determining the orientation relation between the third position and the first coordinate axis; when the third position is in the positive position of the first coordinate axis, setting the direction of the third position as the positive direction of the second coordinate axis; and when the third position is in the negative direction of the first coordinate axis, setting the direction of the third position as the negative direction of the second coordinate axis.
Optionally, when the ranging distance includes a first distance obtained by ranging at a first time, a second distance obtained by ranging at a second time, and a third distance obtained by ranging at a third time, positioning the UWB target node in the positioning coordinate system according to the ranging distances at the at least three times includes: setting a position where the UWB host resides at a first moment as a first fixed point coordinate of the positioning coordinate system, and setting a second fixed point coordinate of the positioning coordinate system at a second moment based on the first distance; setting a third fixed point coordinate of the third moment in the positioning coordinate system based on the second distance and the third distance; constructing a positioning system by using the first fixed point coordinate, the second fixed point coordinate and the third fixed point coordinate; and positioning the UWB target node in the positioning coordinate system through the positioning system.
Optionally, the determining the position information of the UWB host at the at least three time points respectively includes at least one of: receiving the dwell positions of the UWB host at the at least three moments respectively obtained by field measurement; respectively marking the positions where the UWB host resides at the at least three moments in the same reference scene, and setting the marking points at the at least three moments as the position information of the UWB host at the at least three moments; and acquiring the positioning information of the inertial navigation system built in the UWB host at the at least three moments, and setting the positioning information at the at least three moments as the position information of the at least three moments.
Optionally, the obtaining the ranging distance by ranging the UWB target node through the UWB host at least three times includes: the method comprises the steps that a UWB host measures distance of a UWB target node at a first moment to obtain a first distance; after the first distance is obtained, generating prompt information for indicating to move the UWB host, and ranging the UWB target node through the UWB host at a second time after the movement to obtain a second distance; and after the second distance is obtained, generating the prompt message, and ranging the UWB target node through the UWB host at a third moved moment to obtain a third distance.
According to another embodiment of the present application, there is provided an ultra-wideband based time-sharing positioning device, including: the distance measurement module is used for measuring the distance of the UWB target node through the UWB host at least three moments to obtain the distance measurement distance, wherein the positions of the UWB target node at the at least three moments are kept unchanged; a determining module, configured to determine location information of the UWB host at the at least three times, respectively, where locations where the UWB host resides at the at least three times are different; and the positioning module is used for positioning the UWB target node according to the ranging distance and the position information.
Optionally, the positioning module includes: the construction unit is used for constructing a positioning coordinate system based on the position information of the at least three moments; and the positioning unit is used for positioning the UWB target node in the positioning coordinate system according to the ranging distances of the at least three moments.
Optionally, when the position information at the at least three moments is a first position at a first moment, a second position at a second moment, and a third position at a third moment, the constructing unit includes: the first setting subunit is used for setting the first position as a coordinate origin of a two-dimensional positioning coordinate system; the second setting subunit is used for setting a connecting line of the first position and the second position as a first coordinate axis; a third setting subunit, configured to set a second coordinate axis in the direction of the first coordinate axis according to the third position, where the first coordinate axis is perpendicular to the second coordinate axis; and the construction subunit is used for constructing the two-dimensional positioning coordinate system based on the coordinate origin, the first coordinate axis and the second coordinate axis.
Optionally, the third setting subunit is further configured to: determining the orientation relation between the third position and the first coordinate axis; when the third position is in the positive position of the first coordinate axis, setting the direction of the third position as the positive direction of the second coordinate axis; and when the third position is in the negative direction of the first coordinate axis, setting the direction of the third position as the negative direction of the second coordinate axis.
Optionally, when the ranging distance includes a first distance obtained by ranging at a first time, a second distance obtained by ranging at a second time, and a third distance obtained by ranging at a third time, the positioning unit includes: a first setting subunit, configured to set a location where the UWB host resides at a first time as a first fixed point coordinate of the positioning coordinate system, and set a second fixed point coordinate of the positioning coordinate system at a second time based on the first distance; a second setting subunit, configured to set a third fixed point coordinate of the positioning coordinate system at the third time based on the second distance and the third distance; a construction subunit, configured to construct a positioning system using the first fixed point coordinate, the second fixed point coordinate, and the third fixed point coordinate; and the positioning subunit is used for positioning the UWB target node in the positioning coordinate system through the positioning system.
Optionally, the determining module includes at least one of: a first determining unit, configured to receive the dwell positions of the UWB host at the at least three time instants, respectively, obtained through field measurement; a second determining unit, configured to mark positions where the UWB host resides at the at least three times in the same reference scene, respectively, and set mark points at the at least three times as position information of the UWB host at the at least three times; and the third determining unit is used for acquiring the positioning information of the inertial navigation system built in the UWB host at the at least three moments and setting the positioning information at the at least three moments as the position information of the at least three moments.
Optionally, the ranging module includes: the first ranging unit is used for ranging the UWB target node through the UWB host at a first moment to obtain a first distance; the second distance measurement unit is used for generating prompt information used for indicating the UWB host to move after the first distance is obtained, and measuring the distance of the UWB target node through the UWB host at a second time after the movement to obtain a second distance; and the third ranging unit is used for generating the prompt message after the second distance is obtained, and ranging the UWB target node through the UWB host at a third moved moment to obtain a third distance.
According to another embodiment of the present application, there is provided an ultra-wideband based time-sharing positioning system, including: a mobile ultra-wideband UWB host, wherein said UWB host comprises apparatus as described in the above embodiments.
According to a further embodiment of the present application, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present application, there is also provided an electronic device, comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Through the embodiment of the application, the UWB target node is subjected to ranging at least three moments through the UWB host to obtain the ranging distance, then the position information of the UWB host at the at least three moments is determined, wherein the positions of the UWB host residing at the at least three moments are different, finally, the UWB target node is positioned according to the ranging distance and the position information, a temporary positioning coordinate system is flexibly established at any position and at any time through the movable and portable UWB host, a simple and flexible UWB positioning mode is provided, and the technical problem that UWB positioning can only be carried out through a fixed base station in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a hardware structure of an ultra-wideband-based time-sharing positioning terminal according to an embodiment of the present application;
fig. 2 is a flow chart of an ultra-wideband based time-sharing positioning method according to an embodiment of the application;
FIG. 3 is a schematic diagram of an UWB host architecture according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a UWB node layout of an embodiment of the invention;
FIG. 5 is a schematic diagram of determining the y-axis of a positioning coordinate system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of determining coordinates of a pointing device according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating TOA ranging positioning based on clock synchronization according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of positioning based on two-way ranging according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an embodiment of the present invention through TDOA-based location;
FIG. 10 is a block diagram of an ultra-wideband based time-sharing locating device according to an embodiment of the present application;
fig. 11 is a block diagram of an ultra-wideband based time-sharing positioning system according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of this application 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 application 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.
Example 1
The method provided by the first embodiment of the present application may be executed in a computer, a terminal, or a similar computing device. Taking the operation on a terminal as an example, fig. 1 is a hardware structure block diagram of an ultra-wideband-based time-sharing positioning terminal according to an embodiment of the present application. As shown in fig. 1, the terminal 10 may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the terminal. For example, the terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of an application software, such as a computer program corresponding to an ultra-wideband-based time-sharing positioning method in the embodiment of the present application, and the processor 102 executes the computer program stored in the memory 104 to execute various functional applications and data processing, i.e., to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In this embodiment, an ultra-wideband based time-sharing positioning method is provided, and fig. 2 is a flowchart of an ultra-wideband based time-sharing positioning method according to an embodiment of the present application, and as shown in fig. 2, the flowchart includes the following steps:
step S202, ranging the UWB target node through the UWB host at least three moments to obtain ranging distances, wherein the positions of the UWB target node at the at least three moments are kept unchanged;
the UWB host of this embodiment has a ranging function, and the UWB host may also have a display function, for example, the UWB host may be a handheld host having a display function, and includes a mobile terminal, for example, a smart phone provided with a UWB module, and fig. 3 is a schematic structural diagram of the UWB host according to the embodiment of the present invention, and includes a UWB ranging module, a communication module (optional), a resolving module, and a touch display screen (optional).
The positioned UWB target node of the present embodiment cannot move or only moves very slowly, such as a stationary UWB device, and the like.
Step S204, determining the position information of the UWB host at least three moments respectively, wherein the positions where the UWB host resides at the at least three moments are different;
in the embodiment, the UWB host resides in different spaces at least at three times, and each space corresponds to one piece of location information, so that the UWB host of the embodiment is a movable UWB device;
and step S206, positioning the UWB target node according to the ranging distance and the position information.
The locating of the present embodiment includes determining a position, a distance, or a combination thereof of the UWB target node in a location coordinate system.
Through the steps, the UWB host measures the distance of the UWB target node at least three moments to obtain the distance measurement distance, then the position information of the UWB host at least three moments is determined, wherein the positions where the UWB host resides at the at least three moments are different, finally, the UWB target node is positioned according to the distance measurement distance and the position information, a temporary positioning coordinate system is flexibly established at any position and at any time through the movable and portable UWB host, a simple and flexible UWB positioning mode is provided, and the technical problem that UWB positioning can be carried out only through a fixed base station in the related technology is solved. The user only needs to remove the UWB host computer and can carry out the location of high accuracy to the target, for example, in intelligent house, looks for other built-in UWB tag's electronic equipment through the cell-phone that possesses the UWB host computer function, in personnel's location, looks for built-in UWB tag's wearing equipment through the cell-phone that possesses the UWB host computer function, can fix a position the position of the personnel who carry this wearing equipment fast.
In this embodiment, locating the UWB target node according to the ranging distance and the location information includes:
s10, constructing a positioning coordinate system based on the position information of at least three moments;
the positioning coordinate system of the present embodiment may be a two-dimensional coordinate system or a three-dimensional coordinate system.
In this embodiment, a two-dimensional positioning coordinate system can be constructed by the first position at the first time, the second position at the second time, and the third position at the third time. When the UWB host also ranges the UWB target node at the fourth position or more, a positioning coordinate system with higher dimensionality can be constructed. The two-dimensional positioning coordinate system is taken as an example for description herein:
in one embodiment of this embodiment, when the position information at the at least three times is a first position at a first time, a second position at a second time, and a third position at a third time, the constructing the positioning coordinate system based on the position information at the at least three times includes:
s101, setting a first position as a coordinate origin of a two-dimensional positioning coordinate system;
s102, setting a connecting line of the first position and the second position as a first coordinate axis;
the direction of the first coordinate axis may be positive with respect to the direction of the first position (i.e., the direction in which the first position extends toward the second position) of the second position, and may be opposite;
s103, setting a second coordinate axis in the direction of the first coordinate axis according to the third position, wherein the first coordinate axis is vertical to the second coordinate axis;
in one embodiment of this embodiment, the setting of the second coordinate axis in the direction of the first coordinate axis according to the third position comprises: determining the azimuth relationship between the third position and the first coordinate axis; when the third position is in the positive direction of the first coordinate axis, setting the direction of the third position as the positive direction of the second coordinate axis; and when the third position is in the negative direction of the first coordinate axis, setting the direction of the third position as the negative direction of the second coordinate axis.
And S104, constructing a two-dimensional positioning coordinate system based on the coordinate origin, the first coordinate axis and the second coordinate axis.
And S12, positioning the UWB target node in the positioning coordinate system according to the ranging distances of at least three moments.
In order to obtain a uniquely determined positioning coordinate system, three or more UWB host positions are required as base stations (virtual base stations or physical base stations), and at least three positions are not on a straight line. Fig. 4 is a schematic layout diagram of a UWB node according to an embodiment of the present invention, where a handheld host is placed at position 0 and performs ranging with a node to be measured, then the handheld host is sequentially placed at positions 1 and 2 … n and performs ranging with the node to be measured, and the position of the node to be measured is obtained by drawing a ranging circle to intersect with the ranging circles and calculating by using the ranging. The UWB node resides in different positions (host position 0, host position 1 and host position 2 …) at different times, the system uses a UWB host to measure the distance between the UWB host and the measured node at different positions, and the measured node (UWB target node) can not move or only move very slowly in the whole positioning process in order to ensure the positioning accuracy. The system host can be a handheld host with a configuration resolving display function, and the tested node can be a common portable tag or a handheld host configured to be in a positioned mode. All mode configurations can be issued to other nodes by a wireless channel or a UWB channel through a UWB host. The step of constructing a positioning coordinate system comprises:
s21, the position of host position 0 is set as the origin of coordinates.
S22, the connection line between host position 0 and host position 1 is defined as the x-axis, and host position 1 is located in the positive direction of the x-axis.
S23, the y-axis is perpendicular to the x-axis and has two possible directions in the plane, and the direction of the y-axis can be determined according to the host position 2. And selecting a corresponding direction according to the chiral relation of the real positions among the three host positions. Fig. 5 is a schematic diagram of determining a y-axis of a positioning coordinate system according to an embodiment of the present invention, and when viewed from top to bottom, there are two chiral relationships between three host positions, i.e., in a counterclockwise mode, the y-coordinate of the host position 2 is positive, and in a clockwise mode, the y-coordinate of the host position 2 is negative, but of course, the opposite setting may also be performed.
In this embodiment, when the ranging distance includes a first distance obtained by ranging at a first time, a second distance obtained by ranging at a second time, and a third distance obtained by ranging at a third time, locating the UWB target node in the positioning coordinate system according to the ranging distances at least three times includes:
s31, setting the position where the UWB host resides at the first moment as a first fixed point coordinate of the positioning coordinate system, and setting a second fixed point coordinate of the positioning coordinate system at the second moment based on the first distance;
s32, setting a third fixed point coordinate of the positioning coordinate system at the third moment based on the second distance and the third distance;
in one embodiment of this embodiment, setting the third fixed point coordinate at the third time in the positioning coordinate system based on the second distance and the third distance includes: forming a first circle in the positioning coordinates by taking the first fixed point coordinates as a circle center and the second distance as a radius, and forming a second circle in the positioning coordinates by taking the second fixed point coordinates as a circle center and the third distance as a radius; determining two intersection points of the first circle and the second circle in the positioning coordinates; and selecting a specified intersection point with the same azimuth as that of the UWB host in the positioning coordinate system at the third moment in time from the two intersection points, and setting the specified intersection point as a third fixed point coordinate of the positioning coordinate system at the third moment in time.
S33, constructing a positioning system by the first fixed point coordinate, the second fixed point coordinate and the third fixed point coordinate;
fig. 6 is a schematic diagram of determining fixed point coordinates according to an embodiment of the present invention, where base station 0 corresponds to a UWB host at a first time, base station 1 corresponds to a UWB host at a second time, and base station 2 corresponds to a UWB host at a third time, so that: base station 0: the coordinates are directly (0, 0); base station 1: the abscissa is the distance between the base station 0 and the base station 1, and the ordinate is 0; base station 2: the intersection of the two circles is made according to the distance measurement, the possible coordinates of the base station 2 are the coordinates of the point A or the point B, and the point AB is determined according to the mode selected by the coordinate system. If the mode "counterclockwise mode" is selected, point a is indicated, and if the mode "clockwise mode" is selected, point B is indicated. If there are other base stations (base station 3-base station n), base station 3-base station n: the base station 012 is regarded as a positioning base station, the base stations 3 to n are sequentially regarded as labels, and the position coordinates of the base stations 3 to n are automatically calculated according to a ranging, direction-finding and positioning calculation program.
And S34, positioning the UWB target node in the positioning coordinate system through the positioning system.
The positioning system of this embodiment may be a triangulation positioning system, or may be another positioning system, where an absolute value of a distance difference between a UWB target node and any two base stations (two UWB hosts at different times) is constant, so as to obtain a pair of hyperbolas, and multiple pairs of hyperbolas intersect to locate a target.
Here, an example is given:
positioning algorithms based on TOA (time of arrival), also known as tof (time of flight), are further classified into TOA ranging and two-way ranging based on clock synchronization.
In the example of TOA ranging based on clock synchronization, TOA ranging based on clock synchronization needs to precisely synchronize clocks of an unknown point (i.e. UWB target node) and reference points (i.e. UWB hosts at different times) in advance, measure the time when a signal sent by the unknown point reaches each reference point, and determine the distance between the unknown point and multiple reference points according to the transmission speed c of electromagnetic waves in the air, taking three positioning base stations as an example, fig. 7 is a schematic diagram of TOA ranging positioning based on clock synchronization according to an embodiment of the present invention, and referring to fig. 7, the unknown point is T0At time T, reference A, B, CA、TB、TCUpon receiving this signal, the time of flight is (T) since the clocks of the unknown and reference points are precisely synchronizedA-T0)、(TB-T0)、(TC-T0) Multiplying the transmission speed c of the electromagnetic wave in the air respectively to obtain the distance dA、dB、dCAnd drawing a circle by taking the distance as a radius, wherein the intersection point is the position of the unknown point.
The TOA ranging fully utilizes the characteristic of high time resolution of UWB signals, can effectively resist certain environmental interference, and achieves a good positioning effect. The difficulty is that the clocks of the positioning card and all positioning base stations need to be strictly kept synchronous.
In the example of two-way ranging for positioning, the two-way ranging method does not require a locator card and a positioning baseStrict clock synchronization between stations, but requires an unknown point (i.e. a positioning card) to send a signal to a reference point (i.e. a positioning base station), and the positioning base station also sends a signal to the positioning card, fig. 8 is a schematic diagram of positioning based on two-way ranging in the embodiment of the present invention, where the reference point is at t1Time of day (reference point t of local clock1) Sending a signal to an unknown point, the unknown point being at tATime of day (t of unknown point local clock)A) Receiving the signal; unknown point at tBTime of day (t of unknown point local clock)B) Sending a signal to the reference point, the reference point being at t2Time of day (reference point t of local clock2) The signal is received. Then there is
Multiplying the transmission speed c of the electromagnetic wave in the air to obtain the distance between the unknown point and the reference point, determining the distance between the unknown point and other reference points in the same way, and determining the position of the unknown point according to at least three distances.
The two-way ranging method does not require precise time synchronization, but requires more signals to be transmitted between the unknown point and the reference point.
Time difference of Arrival (TDOA) based positioning methods differ from the TOA positioning methods described above in that they require strict synchronization of the clocks between reference points and unknown points, but still require strict synchronization of the clocks between the reference points. The positioning system can be relatively simplified without strict synchronization of clocks of unknown points, and the cost of the positioning system is reduced.
The positioning process of the TDOA positioning method comprises the following steps: clock synchronization is carried out among all reference points in advance, an unknown point sends out a signal, different reference points receive the signal at different moments, the moment when a certain reference point receives the signal is selected as a reference, the reference is subtracted from the moments when other reference points receive the signal to obtain the arrival time difference of the positioning signal, and the arrival time difference is the TDOA value. A hyperbola can be established according to the TDOA value between the unknown point and two reference points, and the two-dimensional positioning needs at least three reference points to establish a group of hyperbola equations to be solved to obtain the position estimation of the unknown point. FIG. 9 is a schematic diagram of a TDOA-based location according to an embodiment of the present invention, wherein since hyperbolas based on distance differences are divergent compared to circles based on distance, in practice at least 4 base stations are usually required to obtain multiple hyperbolas to obtain redundant TDOA values, and coordinates of unknown points are determined after rejecting the TDOA values with large errors, thereby providing accuracy of the TODA location.
Alternatively, the determination of the position information of the UWB host at least three times may be, but is not limited to:
receiving the dwell positions of the UWB host at least three moments respectively obtained by field measurement;
respectively marking positions where the UWB host resides at least three moments in the same reference scene, and setting marking points at least three moments as position information of the UWB host at least three moments; scene markers may use floor grid floors, room walls of known dimensions, etc.;
the method comprises the steps of obtaining displacement information or positioning information of an inertial navigation system (a gyroscope, an accelerometer, a magnetic sensor and a corresponding algorithm) built in the UWB host at least three moments, and setting the displacement information or the positioning information at the at least three moments as position information at the at least three moments.
In an implementation manner of this embodiment, the UWB host moves according to a predetermined trajectory route, and when the user holds the UWB host by hand, the UWB host may further output a prompt message prompting the holder to move the UWB host, so as to acquire different positions corresponding to at least three times. The distance measurement of the UWB target node at least three moments through the UWB host to obtain the distance measurement comprises the following steps: the method comprises the steps that a UWB host measures distance of a UWB target node at a first moment to obtain a first distance; after the first distance is obtained, generating prompt information for indicating the mobile UWB host, and ranging the UWB target node through the UWB host at a second time after the mobile UWB host to obtain a second distance; and after the second distance is obtained, generating prompt information, and ranging the UWB target node through the UWB host at a third time after the movement to obtain a third distance.
After the calculation is completed, the UWB target node position may be displayed on the screen of the UWB host. When the UWB target node is acquired or positioned, prompt information can be output, or when the calculated position data error does not meet the preset condition, a user is prompted to rotate or continue to move so as to obtain more distance measurement distances for calculation.
Optionally, in an embodiment based on TDOA solution:
the UWB host respectively receives at least three UWB positioning communication frames sent by a UWB target node, wherein the positions of the at least three UWB positioning communication frames sent by the UWB target node are kept unchanged;
determining position information of the UWB host when receiving the at least three UWB positioning communication frames, wherein the positions where the UWB host resides when receiving the at least three UWB positioning communication frames are different;
determining first time difference information of the UWB target node transmitting the at least three UWB positioning communication frames; and determining second time difference information of the UWB communication frame received by the UWB host, and positioning the UWB target node according to the first time difference information and the second time difference information.
Specifically, the first time difference information includes difference information of a plurality of time instants, and the second time difference information includes difference information of a plurality of time instants. Taking two frames as an example (i.e. the difference between two times), the UWB host receives UWB location communication frames transmitted by the UWB target node at two positions respectively, the receiving time difference is t1, and the transmitting time difference of the UWB location communication frames transmitted by the UWB target node is t2, when t1 is t2, the TDOA value is 0, and when t1 is not equal to t2, the difference between t1 and t2 is the TDOA value.
In an embodiment of this embodiment, after the constructing the positioning system by the fixed-point coordinates, the method further includes: loading a background picture of a positioning system; and adding position identifications of the UWB host at different positions in the background picture. Optionally, after loading the background picture of the positioning system, the method further includes: performing at least one of the following operations on the background picture: zooming, rotating and clipping. So that a simple background map can be obtained quickly.
Optionally, after the UWB target node is located according to the location coordinate system, the method further includes: determining whether the node position of the UWB target node is within a preset range of the electronic fence. The area of the electronic fence can be a preset safe area or a dangerous area, or an area with other application attributes, and when the UWB target node is positioned within the preset range of the electronic fence, corresponding prompt information can be generated and sent.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
Example 2
The embodiment also provides a time-sharing positioning device and a time-sharing positioning system based on the ultra-wideband, which are used for implementing the above embodiments and preferred embodiments, and are not described again after being described. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 10 is a block diagram of a time-sharing positioning device based on ultra-wideband according to an embodiment of the present application, and as shown in fig. 10, the device includes: the distance measurement system comprises a distance measurement module 100, a determination module 102 and a positioning module 104, wherein the distance measurement module 100 is configured to measure a distance measurement distance from a UWB target node through a UWB host at least three times, and positions of the UWB target node at the at least three times are kept unchanged;
a determining module 102, configured to determine location information of the UWB host at the at least three times, respectively, where locations where the UWB host resides at the at least three times are different;
and a positioning module 104, configured to position the UWB target node according to the ranging distance and the location information.
Optionally, the positioning module includes: the construction unit is used for constructing a positioning coordinate system based on the position information of the at least three moments; and the positioning unit is used for positioning the UWB target node in the positioning coordinate system according to the ranging distances of the at least three moments.
Optionally, when the position information at the at least three moments is a first position at a first moment, a second position at a second moment, and a third position at a third moment, the constructing unit includes: the first setting subunit is used for setting the first position as a coordinate origin of a two-dimensional positioning coordinate system; the second setting subunit is used for setting a connecting line of the first position and the second position as a first coordinate axis; a third setting subunit, configured to set a second coordinate axis in the direction of the first coordinate axis according to the third position, where the first coordinate axis is perpendicular to the second coordinate axis; and the construction subunit is used for constructing the two-dimensional positioning coordinate system based on the coordinate origin, the first coordinate axis and the second coordinate axis.
Optionally, the third setting subunit is further configured to: determining the orientation relation between the third position and the first coordinate axis; when the third position is in the positive position of the first coordinate axis, setting the direction of the third position as the positive direction of the second coordinate axis; and when the third position is in the negative direction of the first coordinate axis, setting the direction of the third position as the negative direction of the second coordinate axis.
Optionally, when the ranging distance includes a first distance obtained by ranging at a first time, a second distance obtained by ranging at a second time, and a third distance obtained by ranging at a third time, the positioning unit includes: a first setting subunit, configured to set a location where the UWB host resides at a first time as a first fixed point coordinate of the positioning coordinate system, and set a second fixed point coordinate of the positioning coordinate system at a second time based on the first distance; a second setting subunit, configured to set a third fixed point coordinate of the positioning coordinate system at the third time based on the second distance and the third distance; a construction subunit, configured to construct a positioning system using the first fixed point coordinate, the second fixed point coordinate, and the third fixed point coordinate; and the positioning subunit is used for positioning the UWB target node in the positioning coordinate system through the positioning system.
Optionally, the determining module includes at least one of: a first determining unit, configured to receive the dwell positions of the UWB host at the at least three time instants, respectively, obtained through field measurement; a second determining unit, configured to mark positions where the UWB host resides at the at least three times in the same reference scene, respectively, and set mark points at the at least three times as position information of the UWB host at the at least three times; and the third determining unit is used for acquiring the positioning information of the inertial navigation system built in the UWB host at the at least three moments and setting the positioning information at the at least three moments as the position information of the at least three moments.
Optionally, the ranging module includes: the first ranging unit is used for ranging the UWB target node through the UWB host at a first moment to obtain a first distance; the second distance measurement unit is used for generating prompt information used for indicating the UWB host to move after the first distance is obtained, and measuring the distance of the UWB target node through the UWB host at a second time after the movement to obtain a second distance; and the third ranging unit is used for generating the prompt message after the second distance is obtained, and ranging the UWB target node through the UWB host at a third moved moment to obtain a third distance.
Fig. 11 is a block diagram of an ultra-wideband based time-sharing positioning system according to an embodiment of the present application, and as shown in fig. 11, the system includes: a mobile UWB host 120, the UWB host 120 residing at different locations at different times, wherein the UWB host comprises the apparatus as described in the above embodiments.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Example 3
Embodiments of the present application further provide a storage medium having a computer program stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, ranging a UWB target node through a UWB host at least three moments to obtain ranging distances, wherein the positions of the UWB target node at the at least three moments are kept unchanged;
s2, determining the position information of the UWB host at the at least three moments respectively, wherein the positions where the UWB host resides at the at least three moments are different;
and S3, positioning the UWB target node according to the ranging distance and the position information.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present application further provide an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, ranging a UWB target node through a UWB host at least three moments to obtain ranging distances, wherein the positions of the UWB target node at the at least three moments are kept unchanged;
s2, determining the position information of the UWB host at the at least three moments respectively, wherein the positions where the UWB host resides at the at least three moments are different;
and S3, positioning the UWB target node according to the ranging distance and the position information.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, 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 is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be 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.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (12)
1. A time-sharing positioning method based on ultra-wideband is characterized by comprising the following steps:
the method comprises the steps that a UWB host is used for ranging UWB target nodes at least three moments to obtain ranging distances, wherein the positions of the UWB target nodes at the at least three moments are kept unchanged;
determining the position information of the UWB host at the at least three moments respectively, wherein the positions where the UWB host resides at the at least three moments are different;
and positioning the UWB target node according to the ranging distance and the position information.
2. The method of claim 1, wherein locating the UWB target node according to the ranging distance and the location information comprises:
constructing a positioning coordinate system based on the position information of the at least three moments;
and positioning the UWB target node in the positioning coordinate system according to the ranging distances of the at least three moments.
3. The method of claim 2, wherein when the at least three time instants of position information are a first position at a first time instant, a second position at a second time instant, and a third position at a third time instant, constructing a positioning coordinate system based on the at least three time instants of position information comprises:
setting the first position as a coordinate origin of a two-dimensional positioning coordinate system;
setting a connecting line of the first position and the second position as a first coordinate axis;
setting a second coordinate axis in the direction of the first coordinate axis according to the third position, wherein the first coordinate axis is vertical to the second coordinate axis;
and constructing the two-dimensional positioning coordinate system based on the coordinate origin, the first coordinate axis and the second coordinate axis.
4. The method of claim 3, wherein setting a second coordinate axis in a direction of the first coordinate axis according to the third position comprises:
determining the orientation relation between the third position and the first coordinate axis;
when the third position is in the positive position of the first coordinate axis, setting the direction of the third position as the positive direction of the second coordinate axis; and when the third position is in the negative direction of the first coordinate axis, setting the direction of the third position as the negative direction of the second coordinate axis.
5. The method of claim 2, wherein when the ranging distances comprise a first distance measured at a first time, a second distance measured at a second time, and a third distance measured at a third time, locating the UWB target node in the location coordinate system according to the ranging distances at the at least three times comprises:
setting a position where the UWB host resides at a first moment as a first fixed point coordinate of the positioning coordinate system, and setting a second fixed point coordinate of the positioning coordinate system at a second moment based on the first distance;
setting a third fixed point coordinate of the third moment in the positioning coordinate system based on the second distance and the third distance;
constructing a positioning system by using the first fixed point coordinate, the second fixed point coordinate and the third fixed point coordinate;
and positioning the UWB target node in the positioning coordinate system through the positioning system.
6. The method of claim 1, wherein determining the location information of the UWB host at the at least three respective time instances comprises at least one of:
receiving the dwell positions of the UWB host at the at least three moments respectively obtained by field measurement;
respectively marking the positions where the UWB host resides at the at least three moments in the same reference scene, and setting the marking points at the at least three moments as the position information of the UWB host at the at least three moments;
and acquiring the positioning information of the inertial navigation system built in the UWB host at the at least three moments, and setting the positioning information at the at least three moments as the position information of the at least three moments.
7. The method of claim 1, wherein ranging the UWB target node by the UWB host at least three times to obtain ranging distances comprises:
the method comprises the steps that a UWB host measures distance of a UWB target node at a first moment to obtain a first distance;
after the first distance is obtained, generating prompt information for indicating to move the UWB host, and ranging the UWB target node through the UWB host at a second time after the movement to obtain a second distance;
and after the second distance is obtained, generating the prompt message, and ranging the UWB target node through the UWB host at a third moved moment to obtain a third distance.
8. An ultra-wideband based time-sharing positioning device, comprising:
the distance measurement module is used for measuring the distance of the UWB target node through the UWB host at least three moments to obtain the distance measurement distance, wherein the positions of the UWB target node at the at least three moments are kept unchanged;
a determining module, configured to determine location information of the UWB host at the at least three times, respectively, where locations where the UWB host resides at the at least three times are different;
and the positioning module is used for positioning the UWB target node according to the ranging distance and the position information.
9. The apparatus of claim 8, wherein the positioning module comprises:
the construction unit is used for constructing a positioning coordinate system based on the position information of the at least three moments;
and the positioning unit is used for positioning the UWB target node in the positioning coordinate system according to the ranging distances of the at least three moments.
10. An ultra-wideband-based time-sharing positioning system is characterized by comprising a movable ultra-wideband UWB host, wherein,
the UWB host comprising the apparatus of claim 8 or 9.
11. A storage medium having a computer program stored thereon, wherein the computer program is arranged to, when executed, perform the method of any of claims 1 to 7.
12. An electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the method of any of claims 1 to 7.
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