CN110686681A - UWB high-precision high-efficiency positioning method - Google Patents

UWB high-precision high-efficiency positioning method Download PDF

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CN110686681A
CN110686681A CN201911111348.7A CN201911111348A CN110686681A CN 110686681 A CN110686681 A CN 110686681A CN 201911111348 A CN201911111348 A CN 201911111348A CN 110686681 A CN110686681 A CN 110686681A
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base station
uwb
coordinates
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CN110686681B (en
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李银博
穆朝卫
任新涛
杨少博
张东
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Xi'an Spice Information Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

A UWB high-precision high-efficiency positioning method. More than 4 fixed base stations with known coordinates form an original UWB base station network, namely an original UWB positioning system, a plurality of temporary mobile encryption base stations are arranged on a point to be measured in a new area, more than 4 UWB positioning tags are additionally arranged in the system, and a new UWB positioning system is obtained after the newly added mobile encryption base stations are temporarily added into the system; the implementation algorithm given for this purpose: the coordinates of UWB positioning tags are firstly determined by utilizing an original UWB base station network, and then the coordinates of a plurality of UWB positioning tags in the system are used for calculating the coordinates and time delay of the flowing UWB encryption base stations, so that each flowing base station is quickly brought into the original UWB base station network, and the expansion and the acquisition of a new UWB positioning system with high precision after encryption are realized. The invention can flexibly arrange the flowing UWB base stations, does not need to adopt a total station instrument to measure the coordinates of the encryption base stations, saves the arrangement cost of the base stations and improves the arrangement efficiency of the UWB base stations.

Description

UWB high-precision high-efficiency positioning method
Technical Field
The invention relates to the field of UWB high-precision positioning, in particular to a rapid base station encryption technology of a UWB high-precision positioning system.
Background
UWB technology is a promising technology that has been rapidly developed in recent years, and has been proven to be effectively applied to indoor precision positioning. Due to the high bandwidth and the signal modulation mode, the ultra-wideband can resist multipath and signal reflection from complex environments, and therefore a positioning result with higher precision is achieved. However, UWB positioning technology, while providing high-precision indoor positioning services, also incurs higher service costs, of which hardware costs account for a major part. In order to save the deployment cost and hardware cost of the UWB base station, higher requirements are put forward for the deployment of networking and the high efficiency utilization of hardware.
The networking modes of the existing UWB positioning systems are complex, particularly for the positioning system adopting the TDOA algorithm, accurate time synchronization control needs to be carried out on all UWB base stations in the system, and only when the timing circuits of all UWB base stations are controlled to be started and stopped simultaneously by high-precision time synchronization control (superior to nanosecond level), accurate time measurement values can be guaranteed to be obtained, so that the coordinates of the positioning labels are calculated by combining the known coordinates of all UWB base stations. Because the UWB base station networking is complicated in arrangement procedure and large in workload, when the later positioning requirement changes and the original UWB base station network is modified or expanded, great manpower and material resources are needed.
For example, when a user requires to improve the positioning accuracy of a certain specific area, the number of UWB base stations needs to be increased in the area, and at this time, if the conventional UWB base station layout scheme is adopted, besides installing the encryption base stations, the total stations are required to measure their accurate coordinates, which is often complicated;
for example, when the user performs partition operation, the conventional method needs to arrange a UWB base station network in the whole area, which reduces the utilization efficiency of the base station and consumes a large amount of cost.
And annotating: "encryption" in the art means increasing the number of UWB base stations in the system.
Disclosure of Invention
The invention aims to provide a UWB high-precision positioning system and a mobile UWB base station encryption technology thereof, and solves the problems of complex network arrangement mode, high cost, poor expansibility and the like in the traditional network arrangement mode at present.
Coping strategy of the invention
The most valuable engineering, the most to be solved are hardware costs and time costs. Therefore, in order to save hardware cost, the invention abandons the traditional scheme of arranging the UWB base station network in the whole area, firstly proposes the scheme of adopting subarea arrangement, and rearranges the UWB base station network in the next measuring area after the previous area measurement is finished. Furthermore, the invention avoids the huge engineering quantity caused by measuring all base station coordinates for each arrangement, and constructs a mobile, progressive and encrypted positioning system and rapidly obtains the positioning of the service area through a system software algorithm in order to improve the engineering efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
principle method
More than 4 fixed base stations with known coordinates form an original UWB base station network, namely an original UWB positioning system, a plurality of temporary mobile encryption base stations are arranged on a point to be measured in a new area, more than 4 UWB positioning tags are additionally arranged in the system, and a new UWB positioning system is obtained after the newly added mobile encryption base stations are temporarily added into the system; the implementation algorithm given for this purpose: the coordinates of UWB positioning tags are firstly determined by utilizing an original UWB base station network, and then the coordinates of a plurality of UWB positioning tags in the system are used for calculating the coordinates and time delay (which is one of key innovation points in the algorithm) of the flowing UWB encryption base station, so that each flowing base station is quickly brought into the original UWB base station network, and the expansion and the acquisition of a new UWB positioning system with high precision after encryption are realized.
A method for location application in a service area, comprising the steps of:
(a) and (3) assuming that the whole application area of the UWB high-precision navigation positioning service is S, and establishing a coordinate reference in the area S.
(b) And laying an initial UWB high-precision navigation positioning system in S. And measuring the center coordinates of the UWB base station antennas, and calculating the relative time delay of each slave base station relative to the reference base station.
(c) Determining a sub-region S to be positioned in SiJudging whether it is necessary to be at SiThe base station encryption is performed. If not, completing the process in the region SiNavigation positioning work in the system; if necessary, go to step (d).
(d) And measuring the coordinates of the static control point by using the UWB positioning tag so as to encrypt the UWB base station. According to the positioning requirement, at SiAnd designing the layout position of the UWB base station to be encrypted, and installing the flowing UWB base station at the design point.
(e) Is utilized at SiAnd the three-dimensional coordinates of the flowing UWB base station and the time delay relative to the reference base station are inversely calculated according to the static label coordinates obtained in the area and the observed value of the flowing UWB base station to the positioning label.
(f) Bringing said mobile UWB base station into original UWB base station network to reach region SiTo implement the region SiThe high-precision navigation positioning service. Then let i equal i +1 and Si+1And (4) repeating the steps (c), (d) and (e) for starting, and sequentially carrying out base station encryption and label positioning until the navigation positioning work in the whole area S is completed.
Further, the number of UWB positioning tags of known position used to back-calculate the coordinates of the encryption base station in step (e) is at least 4, and the calculation method of the coordinates of the encryption base station is:
the newly added mobile slave base station w, the reference base station j, the label k of the known position is 1, …, m (m is more than or equal to 4), and the observation equation after the difference is:
Figure BDA0002272794060000031
unlike in step (c), the known number is the tag coordinate and the unknown number is the base station coordinate. Linearizing equation (7), i.e. therein
Figure BDA0002272794060000032
Initial value (x) of coordinates of subordinate base station to be encrypted according to Taylor seriesw0,yw0,zw0) Unfolding:
Figure BDA0002272794060000033
wherein ,
Figure BDA0002272794060000034
Figure BDA0002272794060000035
(xw0,yw0,zw0) For the initial value of the coordinates of the newly added base station, (x)i,yi,zi) Is the reference base station j coordinate, (x)k,yk,zk) In order to be the coordinates of the tag,is the initial value of the difference in distance between the tag k and the base station w, j,
Figure BDA0002272794060000037
and
Figure BDA0002272794060000038
is a linearization coefficient.
Setting the number of labels as m, writing a difference observation equation (8) into a matrix form:
L＝Fδ+ε,Qε(9)
wherein ,
Figure BDA0002272794060000039
δ＝[δx δy δz δγ]T,ε＝[ε1,…,εn]T. Since both the delay and the system error are constant and difficult to separate, they are combined into an unknown number δ γ.
By using least square adjustment, the three-dimensional coordinate and relative time delay vector of the newly added UWB base station can be obtained
Figure BDA00022727940600000311
After the three-dimensional coordinates and the relative time delay of the newly added and encrypted UWB base station are obtained, the newly added base station can be brought into the existing UWB base station system, and the fast encryption of the mobile base station is realized, so that the high-precision navigation positioning service in the area is completed.
After the navigation positioning service in the area is completed, the mobile base station can be detached, and then the base station rapid encryption technology is utilized to encrypt the base station in other areas according to the positioning requirement. And the high-precision UWB navigation positioning service is completed in a mode of encrypting the base station while positioning by using the least base station and the fastest base station encryption mode.
Through the technical scheme, the mobile UWB base stations can be flexibly arranged, the total station is not needed to be adopted for measuring the coordinates of the encryption base stations, the base station arrangement cost is saved, and the UWB base station arrangement efficiency is improved; the base station can be flexibly removed according to positioning requirements, the utilization efficiency of the base station is improved, the base stations can be flexibly added according to the positioning requirements, and the positioning accuracy of the encryption area is improved.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention provides a rapid base station encryption technology of a UWB high-precision positioning system, which can freely add a UWB base station in an original UWB base station network according to the change of a user on precision requirement in the positioning application process.
(2) Different from the traditional layout of a UWB base station network, the encrypted UWB base station does not need to be measured by a total station, the original UWB base station network is used for calculating the coordinates of the label, the coordinates of the encrypted base station and the time synchronization information between the encrypted base station and the original base station network are calculated reversely by using the coordinates of the label, the calculation efficiency is greatly improved, and the base station network is expanded conveniently.
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FIG. 1 is a diagram illustrating a hardware system scenario according to the present invention.
FIG. 2 is a flow chart of the steps involved in practicing the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings so that the advantages and features of the invention can be more easily understood by those skilled in the art, and the scope of the invention will be clearly and clearly defined.
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
The system scenario shown in fig. 1 includes 4 or more UWB base stations whose coordinates are known, a central controller, an upper computer, a UWB base station to be installed in an encrypted manner, called a mobile UWB base station, and 4 or more UWB positioning tags. By using the TDOA algorithm, the coordinates of the tags are calculated by using the time difference between the base stations with known positions and the tag signals received by each base station in the UWB positioning system, and conversely, the coordinates and the time delay of the flowing UWB encryption base station are inversely calculated by using the coordinates of the UWB positioning tags, so that high-precision positioning is realized. Partitioning in this manner steps up the location of the entire service area.
As shown in fig. 2, specifically, the method for positioning application in a service area includes the following steps:
(a) and (3) assuming that the whole application area of the UWB high-precision navigation positioning service is S, and establishing a coordinate reference in the area S.
(b) And laying an initial UWB high-precision navigation positioning system in S. And measuring the center coordinates of the UWB base station antennas, and calculating the relative time delay of each slave base station relative to the reference base station.
(c) Determining a sub-region S to be positioned in SiJudging whether it is necessary to be at SiThe base station encryption is performed. If not, completing the process in the region SiNavigation positioning work in the system; if necessary, go to step (d).
(d) And measuring the coordinates of the static control point by using the UWB positioning tag so as to encrypt the UWB base station. According to the positioning requirement, at SiAnd designing the layout position of the UWB base station to be encrypted, and installing the flowing UWB base station at the design point.
(e) Is utilized at SiThe static label coordinate obtained in the area is inversely calculated according to the observed value of the mobile UWB base station to the positioning labelThree-dimensional coordinates of the flowing UWB base station and a time delay relative to the reference base station.
(f) Bringing said mobile UWB base station into original UWB base station network to reach region SiTo implement the region SiThe high-precision navigation positioning service. Then let i equal i +1 and Si+1And (4) repeating the steps (c), (d) and (e) for starting, and sequentially carrying out base station encryption and label positioning until the navigation positioning work in the whole area S is completed.
Further, as a preferred technical solution, the UWB positioning base station is connected by using optical fiber series connection. The UWB positioning base station is connected with the central controller in an optical fiber mode, and the central controller and the upper computer transmit data in a udp protocol;
further, the establishing of the coordinate reference in the step (a) includes: an independent coordinate system is established in the area S, and the coordinates of the ground control point can be measured by a total station in the initial stage for the first time.
Further, the step (b) includes:
(1) and laying a UWB navigation positioning system. Including installing a plurality of UWB base stations and a synchronization controller. One base station is set in the UWB base station as a reference base station, the other base stations are set as subordinate base stations, the UWB base stations are connected and connected to a central controller according to system requirements, and the central controller establishes communication with an upper computer to establish a local area network. The mobile terminal is regarded as a UWB positioning tag when the positioning point is set, and each UWB positioning tag signal is received by at least 4 UWB base stations.
(2) And measuring the coordinates and the relative time delay value of each UWB base station. The phase center coordinates of each UWB base station antenna are obtained by total station measurements (used only for the first time in the initial phase). And the time delay value of each UWB slave base station relative to the reference base station is calculated by measuring static data on the control point.
If the UWB base station is i and the tag is k, the basic observation equation for UWB positioning is:
Figure BDA0002272794060000061
wherein ,
Figure BDA0002272794060000062
indicating the observed value (in meters) of base station i received by tag k.
Figure BDA0002272794060000063
For the distance between the tag and the base station, let the base station coordinate be (x)i,yi,zi) The label coordinate is (x)k,yk,zk) Then distance
Figure BDA0002272794060000064
Figure BDA0002272794060000065
dtkIs the clock difference of the label, δ t is the clock difference of the synchronous controller, riFor the amount of time delay between the ith base station to the synchronization controller,
Figure BDA0002272794060000066
for system errors caused by phase deviation of base station antenna, environmental temperature and other factors,
Figure BDA0002272794060000067
to observe noise, c is the speed of light.
And if the reference base station is j, eliminating clock difference of the tag and the central controller by using an inter-station difference mode, and acquiring the relative time delay of the slave base station relative to the reference base station. The observation equation after the difference between stations is as follows:
wherein the difference operatorAfter the difference is made, the difference is calculated,and
Figure BDA00022727940600000615
is a very small quantity and can be ignored in the calculation of the relative time delay. Coordinate (x) of labelk,yk,zk) Subordinate base station coordinates (x)i,yi,zi) And reference coordinates (x)j,yj,zj) The time delay from each slave base station to the reference base station can be obtained by the following steps:
Figure BDA00022727940600000611
further, the basic principle of the UWB navigation and positioning system in the step (c) is that the UWB base station receives the signals sent by the UWB positioning tags and transmits the signals to the central controller, the central controller sends the measurement information of each UWB base station to the upper computer, and the upper computer positions the UWB positioning tags and calculates the three-dimensional coordinates of the UWB positioning tags. The method of least square adjustment can be selected to solve the UWB positioning label coordinate, and the specific steps are as follows:
linearizing the observation equation (2), i.e. in (2)
Figure BDA00022727940600000612
At the initial value (x) of the label coordinate according to Taylor seriesk0,yk0,zk0) Spread out (neglecting the lower subscript for ease of writing because only 1 tag is considered here):
Figure BDA00022727940600000613
wherein ,
Figure BDA00022727940600000614
Figure BDA0002272794060000071
(xk0,yk0,zk0) As the initial value of the label coordinate, (x)i,yi,zi) Is the dependent base station i coordinate, (x)i,yi,zi) Base station j is a referenceThe mark is that,
Figure BDA0002272794060000072
is the initial value of the difference in distance between the tag and the base station i, j,
Figure BDA0002272794060000073
and
Figure BDA0002272794060000074
is a linearization coefficient.
And (3) writing an observation equation (4) into a matrix form by setting the number of the UWB dependent base stations as n:
l＝Ax+ε,Qε(5)
in the formula ,x＝[δx δy δz]T,ε＝[ε1,…,εn]T，Qεis a covariance matrix of the observed noise.
By using the least square adjustment, the three-dimensional coordinates of the user UWB tag can be obtained as follows:
Figure BDA0002272794060000076
further, the criteria for selecting the mobile base station in step (d) are: the mobile UWB base station is temporarily encrypted, and the added UWB base station is used for quickly meeting the corresponding positioning precision requirement, so that the mobile UWB base station is used as a subordinate base station, is uniformly distributed and has better communication condition.
Further, the number of UWB positioning tags of known position used to back-calculate the coordinates of the encryption base station in step (e) is at least 4, and the calculation method of the coordinates of the encryption base station is:
the newly added mobile slave base station w, the reference base station j, the label k of the known position is 1, …, m (m is more than or equal to 4), and the observation equation after the difference is:
Figure BDA0002272794060000077
in contrast to step (c),at this time, the known number is the tag coordinate, and the unknown number is the base station coordinate. Linearizing equation (7), i.e. therein
Figure BDA0002272794060000078
Initial value (x) of coordinates of subordinate base station to be encrypted according to Taylor seriesw0,yw0,zw0) Unfolding:
Figure BDA0002272794060000079
wherein ,
Figure BDA00022727940600000710
Figure BDA00022727940600000711
(xw0,yw0,zw0) For the initial value of the coordinates of the newly added base station, (x)i,yi,zi) Is the reference base station j coordinate, (x)k,yk,zk) In order to be the coordinates of the tag,
Figure BDA00022727940600000712
is the initial value of the difference in distance between the tag k and the base station w, j,
Figure BDA00022727940600000713
and
Figure BDA00022727940600000714
is a linearization coefficient.
Setting the number of labels as m, writing a difference observation equation (8) into a matrix form:
L＝Fδ+ε,Qε(9)
wherein ,
Figure BDA0002272794060000081
δ＝[δx δy δz δγ]T,ε＝[ε1,…,εn]T. Since both the delay and the system error are constant and difficult to separate, they are combined into an unknown number δ γ.
By using least square adjustment, the three-dimensional coordinate and relative time delay vector of the newly added UWB base station can be obtained
Figure BDA0002272794060000082
After the three-dimensional coordinates and the relative time delay of the newly added and encrypted UWB base station are obtained, the newly added base station can be brought into the existing UWB base station system, and the fast encryption of the mobile base station is realized, so that the high-precision navigation positioning service in the area is completed.
After the navigation positioning service in the area is completed, the mobile base station can be detached, and then the base station rapid encryption technology is utilized to encrypt the base station in other areas according to the positioning requirement. And the high-precision UWB navigation positioning service is completed in a mode of encrypting the base station while positioning by using the least base station and the fastest base station encryption mode.
Through the technical scheme, the mobile UWB base stations can be flexibly arranged, the total station is not needed to be adopted for measuring the coordinates of the encryption base stations, the base station arrangement cost is saved, and the UWB base station arrangement efficiency is improved; the base station can be flexibly removed according to positioning requirements, the utilization efficiency of the base station is improved, the base stations can be flexibly added according to the positioning requirements, and the positioning accuracy of the encryption area is improved.

Claims (3)

1. A method for location application in a service area, comprising the steps of:
(a) and (3) assuming that the whole application area of the UWB high-precision navigation positioning service is S, and establishing a coordinate reference in the area S.
(b) And laying an initial UWB high-precision navigation positioning system in S. And measuring the center coordinates of the UWB base station antennas, and calculating the relative time delay of each slave base station relative to the reference base station.
(c) Determining a sub-region S to be positioned in SiJudging whether it is necessary to be at SiThe base station encryption is performed. If not, completing the process in the region SiNavigation positioning work in the system; if necessary, go to step (d).
(d) And measuring the coordinates of the static control point by using the UWB positioning tag so as to encrypt the UWB base station. According to the positioning requirement, at SiAnd designing the layout position of the UWB base station to be encrypted, and installing the flowing UWB base station at the design point.
(e) Is utilized at SiAnd the three-dimensional coordinates of the flowing UWB base station and the time delay relative to the reference base station are inversely calculated according to the static label coordinates obtained in the area and the observed value of the flowing UWB base station to the positioning label.
(f) Bringing said mobile UWB base station into original UWB base station network to reach region SiTo implement the region SiThe high-precision navigation positioning service. Then let i equal i +1 and Si+1And (4) repeating the steps (c), (d) and (e) for starting, and sequentially carrying out base station encryption and label positioning until the navigation positioning work in the whole area S is completed.
2. The method of claim 1, wherein after obtaining the three-dimensional coordinates and relative time delay of the newly added encrypted UWB base station, the newly added base station can be incorporated into the existing UWB base station system to implement fast encryption of the mobile base station, thereby completing high-precision navigation positioning service in the area; after the navigation positioning service in the area is completed, the mobile base station can be detached, and then the encryption mode of the base station is utilized to encrypt the base station in other areas according to the positioning requirement.
3. The method of claim 1 wherein the number of UWB location tags of known location used in step (e) to back-calculate the coordinates of the encryption base station is at least 4, the coordinates of the encryption base station being calculated by:
the newly added mobile slave base station w, the reference base station j, the label k of the known position is 1, …, m (m is more than or equal to 4), and the observation equation after the difference is:
Figure FDA0002272794050000011
and step (c)In contrast, the known number is the tag coordinate and the unknown number is the base station coordinate. Linearizing equation (7), i.e. therein
Figure FDA0002272794050000012
Initial value (x) of coordinates of subordinate base station to be encrypted according to Taylor seriesw0,yw0,zw0) Unfolding:
Figure FDA0002272794050000021
wherein ,
Figure FDA0002272794050000023
Figure FDA0002272794050000024
(xw0,yw0,zw0) For the initial value of the coordinates of the newly added base station, (x)i,yi,zi) Is the reference base station j coordinate, (x)k,yk,zk) In order to be the coordinates of the tag,is the initial value of the difference in distance between the tag k and the base station w, j,
Figure FDA0002272794050000026
and
Figure FDA0002272794050000027
is a linearization coefficient.
Setting the number of labels as m, writing a difference observation equation (8) into a matrix form:
L＝Fδ+ε,Qε(9)
wherein ,
Figure FDA0002272794050000028
δ＝[δx δy δzδγ]T,ε＝[ε1,…,εn]T. Since both the delay and the system error are constant and difficult to separate, they are combined into an unknown number δ γ.
By using least square adjustment, the three-dimensional coordinate and relative time delay vector of the newly added UWB base station can be obtained
Figure FDA0002272794050000029
Figure FDA00022727940500000210
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CN113064491A (en) * 2021-04-12 2021-07-02 合肥工业大学 Teaching interaction system and method based on three-dimensional UWB technology
CN113063422A (en) * 2021-03-22 2021-07-02 中国科学院国家授时中心 Clock difference considered 5G terminal indoor positioning method
CN113163486A (en) * 2021-04-20 2021-07-23 武汉大学 Relative positioning method and system based on 5G TDOA
CN114245289A (en) * 2021-11-02 2022-03-25 北京邮电大学 Autonomous positioning method for mobile equipment
CN114501322A (en) * 2022-01-20 2022-05-13 同济大学 Differential UWB (ultra-wide band) positioning method

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