CN111948600B - Method for measuring and calibrating position of positioning tag - Google Patents

Method for measuring and calibrating position of positioning tag Download PDF

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CN111948600B
CN111948600B CN202010743838.5A CN202010743838A CN111948600B CN 111948600 B CN111948600 B CN 111948600B CN 202010743838 A CN202010743838 A CN 202010743838A CN 111948600 B CN111948600 B CN 111948600B
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distance
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angle
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CN111948600A (en
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王博
涂振益
张亮
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Fu Zhou Internet Of Things Open Lab
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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
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • 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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  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention relates to the technical field of antennas, in particular to a method for measuring and calibrating the position of a positioning tag. The method for measuring and calibrating the position of the positioning tag comprises the following steps: calculating a first angle and a first distance between the tag and the base station; calibrating the first angle to obtain a second angle; calibrating the first distance to obtain a second distance; and calculating the coordinate value of the label according to the second angle and the second distance. The resulting measured value is made closer to the true value by calibrating the first angle and the first distance. The method is simple and easy to implement, and greatly improves the experience of robot positioning following, thereby improving the user experience.

Description

Method for measuring and calibrating position of positioning tag
Technical Field
The invention relates to the technical field of wireless positioning, in particular to a method for measuring and calibrating the position of a positioning label.
Background
Ultra Wideband (UWB) is a carrier-free communication technology, utilizes nanosecond to microsecond non-sine wave narrow pulses to transmit data, can utilize sub-nanosecond Ultra-narrow pulses to perform close-range accurate indoor positioning, has the accuracy of about 10 cm, and has the advantages of small power consumption, strong anti-interference capability, strong multi-path effect resistance and the like.
The existing automatic following robot based on UWB positioning technology is based on a single base station antenna array, and a time of flight (TOF) algorithm and a signal arrival Phase Difference (PDOA) algorithm are adopted to calculate the distance and the angle between the tag and the positioning base station respectively. The actual measurement distance and the real distance have certain deviation under the influence of the antenna gain, the PCB loss and the sum; because the interval between two antennas of the antenna array is half-wave long distance, the distance is relatively close, and mutual coupling effect exists between the two antennas. The effective path of electromagnetic wave transmission is different from the geometric path compared to free space. In addition, in a real system, a slight phase shift and jitter can be generated due to a slight difference in length between the feeder lines of the two antennas. Therefore, there is a certain error in calculating the angle from the acquired direct phase difference.
Disclosure of Invention
Therefore, a method for measuring and calibrating the position of a positioning tag is needed to solve the problem that errors exist between the actual measured distance and the actual distance, and between the actual calculated angle and the actual angle in the technical field of UWB. The specific technical scheme is as follows:
a method of positioning tag position measurement calibration, comprising the steps of:
calculating a first angle between the tag and the base station;
calibrating the first angle to obtain a second angle;
calculating a first distance between the tag and the base station;
calibrating the first distance to obtain a second distance;
and calculating the coordinate value of the label according to the second angle and the second distance.
Further, the "calibrating the first angle to obtain the second angle" further includes the steps of:
adjusting the angle of the base station for a plurality of times within a preset angle range, recording the original path difference of the labels with different distances from the base station to the antenna array of the base station after each time of adjusting the angle of the base station and the angle information of the labels relative to the base station, wherein the labels are arranged right in front of the base station;
and (3) carrying out statistical analysis on error arrangement of the measured value and the true value under different distances and different angles, and fitting a true measured result.
Further, the "calibrating the first distance to obtain the second distance" further includes the steps of:
recording the received signal strength of the tag at different distances received by a base station end and the distance between the tag and the base station, which are actually measured, wherein the tag is arranged right in front of the base station, and the antenna of the tag is equal to the antenna of the base station in height;
establishing a distance deviation table by statistically analyzing the relation between the received signal strength at different distances and the measured distance;
and calibrating the first distance according to the distance deviation table to obtain a second distance.
Further, the "fitting the true measurement result" further includes the steps of:
the true measurement was fitted using a polynomial of degree 4.
Further, the step of recording the received signal strengths of the tags at different distances at the base station end further includes the steps of:
and reading a corresponding register through a UWB baseband chip at the base station end to calculate the received signal strength of the first path.
The beneficial effects of the invention are as follows: and calibrating the first angle to obtain a second angle and calibrating the first distance to obtain a second distance through pre-calculating a first angle and a first distance between the tag and the base station, and calculating the coordinate value of the tag according to the second angle and the second distance. The resulting measured value is made closer to the true value by calibrating the first angle and the first distance. The method is simple and easy to implement, and greatly improves the experience of robot positioning following, thereby improving the user experience.
Drawings
FIG. 1 is a flow chart of a method for calibration of position measurement of a position tag according to an embodiment;
FIG. 2 is a schematic diagram of the PDOA method according to the embodiment;
FIG. 3 is a flowchart of the step of calibrating the first angle to obtain a second angle according to the embodiment;
FIG. 4 is a flowchart of the step of calibrating the first distance to the second distance according to the embodiment.
Detailed Description
In order to describe the technical content, constructional features, achieved objects and effects of the technical solution in detail, the following description is made in connection with the specific embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 4, in this embodiment, a specific embodiment of a method for calibrating position measurement of a positioning tag is as follows:
step S101: a first angle and a first distance between the tag and the base station are calculated.
Step S102: and calibrating the first angle to obtain a second angle.
Step S103: and calibrating the first distance to obtain a second distance.
Step S104: and calculating the coordinate value of the label according to the second angle and the second distance.
Referring to fig. 2, a specific description of step S101 is expanded:
it should be noted that the first angle and the first distance between the tag and the base station are calculated in no sequence, the first angle may be calculated first, then the first distance may be calculated first, and then the first angle may be calculated first. The following description will be given for both:
in this embodiment, the angle is measured by the PDOA method, and a specific schematic diagram is shown in fig. 2:
(1) The relation between the path difference (p) of the tag end antenna C to the base station end antenna arrays a and B and the distance (d) and the arrival angle (θ) of the antenna arrays a and B is p=dsin (θ);
(2) The reference radio signal wavelength λ=2ρc/f, f is the radio signal frequency, c is the speed of light, therefore, the PDOA phase difference (Φ) has the following relation with p and λ
Figure BDA0002607660080000041
(3) The relation between the PDOA phase difference and the AOA true angle difference is obtained by combining the two formulas:
Figure BDA0002607660080000042
when d < lambda/2, theta is [ -pi/2, pi/2]Between them;
(4) In actual use, selecting the central frequency f=6.5 GHz of the UWB signal, and selecting a distance of 2.31 cm;
(5) When the base station receives a frame of signal from the tag antenna C, the first path phase information (phi respectively) of A and B is read out from the base station antenna array baseband chip (DW 1000) A And phi B ) And phase information of a Synchronization Frame Delimiter (SFD) (denoted as beta respectively) A And beta B )；
(6) Calculate the PDOA phase difference ([ -pi, pi ]):
Figure BDA0002607660080000044
(7) Synthesizing the formula in (3), and finally obtaining the signal arrival angle, namely a first angle:
Figure BDA0002607660080000043
as shown in fig. 1, thereby yielding α=90- θ.
The first distance is calculated by the reception timestamp recorded by the UWB baseband chip.
Because the interval between the two antennas of the antenna array is a half-wave long distance, the distance is relatively short, and mutual coupling effect exists between the two antennas. The effective path of electromagnetic wave transmission is different from the geometric path compared to free space. In addition, in a real system, a slight phase shift and jitter can be generated due to a slight difference in length between the feeder lines of the two antennas. Therefore, there is a certain error in calculating the angle and the true angle according to the obtained direct phase difference, i.e. there is a certain error in the first angle and the true angle, so step S102 needs to be performed.
And a certain error exists in calculating the measurement distance based on the receiving time stamp recorded by the UWB baseband chip, the error depends on the incident signal power of the UWB baseband chip and is influenced by the design of various aspects of the system, such as: antenna gain, PCB loss, etc. So the first distance cannot be used as the last true distance, and the step S103 is consulted.
It should be noted that there is no sequential relationship between step S102 and step S103. Step S102 may precede step S103 or follow step S103.
Specifically, referring to fig. 3, step S102 further includes the steps of:
step S301: and adjusting the angle of the base station for a plurality of times within a preset angle range.
Step S302: and recording the original path difference of the labels with different distances from the base station to the antenna array of the base station after each time of adjusting the angle of the base station and the angle information of the labels relative to the base station, wherein the labels are arranged right in front of the base station.
Step S303: and (3) carrying out statistical analysis on error arrangement of the measured value and the true value under different distances and different angles, and fitting a true measured result.
In this embodiment, the tag is disposed right in front of the base station, for example, the tag is placed right in front of the base station by a certain distance (for example, 2 meters, 5 meters, 8 meters, 15 meters, etc.), and the different distances are selected for multiple measurements, and it is to be noted that how many meters are placed at a specific distance and how many tags can be adjusted according to the actual situation, which is not limited.
After being placed, step S301 and step S302 may be as follows: and controlling a turntable motor on the base station to rotate every 15 degrees within a range from-90 degrees to 90 degrees in front, and measuring the original path difference of the tag reaching the antenna array of the base station and the angle information of the tag relative to the base station at each position.
Wherein, the "fitting the real measurement result" in step S303 further includes the steps of: the true measurement was fitted using a polynomial of degree 4. The 4 th degree polynomial is α' =c as follows 4 α 4 +C 3 α 3 +C 2 α 2 +C 1 α+C 0 α' is the calibrated angle value, α is the actual measured angle value, and Cx is the correlation coefficient. Wherein the calibrated angle value is the second angle.
Referring to fig. 4, in this embodiment, the "calibrating the first distance to obtain the second distance" further includes the steps of:
step S401: recording the received signal strength of the labels at different distances received by the base station end and the distances between the actually measured labels and the base station, wherein the labels are arranged right in front of the base station, and the heights of the antennas of the labels and the antennas of the base station are equal.
Step S402: and establishing a distance deviation table by statistically analyzing the relation between the received signal strength at different distances and the measured distance.
Step S403: and calibrating the first distance according to the distance deviation table to obtain a second distance.
It should be noted that, when the first distance is calibrated, the base station and the tag are placed at equal heights (i.e., the device antennas of the base station and the tag are equal in height), and the tag is located directly in front of the base station.
The step S401 may specifically be as follows: and (3) moving and placing the tag every 0.5 m between 0 and the measurable furthest distance in front of the base station, reading a corresponding register from a UWB baseband chip at the base station end to calculate the first path received signal strength (FSL), and recording the actually measured distance between the tag and the base station.
Step S402 is then performed to create a distance deviation table (measured distance-true distance).
After the establishment, the execution of step S403 may be specifically as follows: enabling application of distance offset calibration within a base station processor: and obtaining a corresponding distance calibration difference delta r by a table look-up method at each measurement distance, and outputting the actual measurement distance plus the distance calibration difference as a final measurement result. I.e. as said second distance output.
Step S104 may be specifically as follows:
1. calculating the tag position coordinate x
(1) According to triangle geometry
Figure BDA0002607660080000061
The relationship may yield a correlation formula as shown in fig. 2:
Figure BDA0002607660080000062
(2) Continuing to derive:
Figure BDA0002607660080000063
(3) Deriving
Figure BDA0002607660080000064
(4) The final correction x value using the distance calibration offset value is:
Figure BDA0002607660080000065
wherein the method comprises the steps of
1) D is the design distance between the known base station antenna a and the base station antenna B;
2)、p＝d*cos(α')；
3) R is the measurement distance between the tag antenna C and the base station antenna A;
4) Δr is the calibration offset for the distance.
5. Calculating the tag position coordinate y
(1) Knowledge of geometric relationships
Figure BDA0002607660080000071
(2) Further converted to obtain
Figure BDA0002607660080000072
(3) Since d is much smaller than r, d 2 Comparison r 2 Smaller ones can be ignored
Figure BDA0002607660080000073
(4) The y value is corrected by applying the distance standard deviation value:
Figure BDA0002607660080000074
wherein the method comprises the steps of
1) D is the design distance between the known base station antennas A and B
2)、p＝d*cos(α’)
3) R is the measured distance between the tag antenna C and the base station antenna A
4) Calibration deviation value for Deltar as distance
And calibrating the first angle to obtain a second angle, calibrating the first distance to obtain a second distance, and calculating the coordinate value of the label according to the second angle and the second distance. The calibration method is simple and easy to implement, and the positioning following precision of the robot is improved.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the invention.

Claims (3)

1. A method of positioning tag position measurement calibration, comprising the steps of:
calculating a first angle and a first distance between the tag and the base station;
calibrating the first angle to obtain a second angle;
calibrating the first distance to obtain a second distance;
calculating the coordinate value of the label according to the second angle and the second distance; the "calibrating the first angle to obtain the second angle" further includes the steps of:
adjusting the angle of the base station for a plurality of times within a preset angle range, recording the original path difference of the labels with different distances from the base station to the antenna array of the base station after each time of adjusting the angle of the base station and the angle information of the labels relative to the base station, wherein the labels are arranged right in front of the base station;
the error arrangement of the measured value and the true value under different distances and different angles is statistically analyzed, and the true measured result is fitted; the "calibrating the first distance to obtain the second distance" further includes the steps of:
recording the received signal strength of the tag at different distances received by a base station end and the distance between the tag and the base station, which are actually measured, wherein the tag is arranged right in front of the base station, and the antenna of the tag is equal to the antenna of the base station in height;
establishing a distance deviation table by statistically analyzing the relation between the received signal strength at different distances and the measured distance;
and calibrating the first distance according to the distance deviation table to obtain a second distance.
2. A method of positional tag location measurement calibration as defined in claim 1, wherein,
the "fitting the true measurement" further comprises the steps of:
the true measurement was fitted using a polynomial of degree 4.
3. A method of positional tag location measurement calibration as defined in claim 1, wherein,
the step of recording the received signal strength of the labels at different distances at the base station end further comprises the steps of:
and reading a corresponding register through a UWB baseband chip at the base station end to calculate the received signal strength of the first path.
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