CN112073903A - Single-base-station high-precision UWB indoor positioning system and method - Google Patents
Single-base-station high-precision UWB indoor positioning system and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Abstract
The invention discloses a single-base-station high-precision UWB indoor positioning system and a method. The positioning system comprises a positioning base station for positioning the positioning label; the positioning tag is used for realizing positioning through communication with a positioning base station; a positioning base station antenna A for receiving and transmitting UWB ranging frames; and the other antennas except the antenna A of the positioning base station are used for receiving the ranging frame sent by the positioning label. The positioning method comprises the steps of interacting between a single base station integrating multiple antennas and a positioning tag, and then calculating and processing data to realize positioning. The invention replaces the multi-base station UWB positioning technology with the single-base station multi-antenna UWB positioning technology, thereby greatly reducing the deployment cost and the deployment time.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a single-base-station high-precision UWB indoor positioning system and method.
Background
The consideration between the complexity and the positioning accuracy of the system is always a compromise problem in the design process of the indoor positioning system, and the UWB indoor positioning system usually needs to deploy a positioning network, so that the UWB indoor positioning system has higher system complexity.
Conventional UWB indoor positioning systems can be implemented in two ways, which are based on time difference of arrival (TDOA) and time of arrival (TOA). The patent "systematic error estimation of base stations based on TDOA model" (publication number: 110582059A) is based on TDOA, and a multi-base-station UWB positioning network is established to position UWB tags. The patent "a distance measuring system combining wireless clock synchronization and TOA based on UWB" (publication number: 106842175a) utilizes a plurality of positioning base stations to realize a distance measuring and positioning system based on a TOA method, and can improve the distance measuring accuracy by adding a positioning base station. The patent "AOA-based UWB positioning system" (publication: CN106019221A) implements an AOA-based positioning system using a plurality of receiving modules with positioning antenna arrays.
Therefore, most of the existing UWB indoor positioning systems position UWB tags by utilizing a plurality of base stations, the deployment cost of the base stations is high, the deployment time is long, and relative errors are generated by interactive calculation among the base stations.
In order to reduce the deployment cost and simultaneously consider the positioning performance, a UWB indoor positioning system which is convenient to deploy and controllable in cost needs to be designed urgently.
Disclosure of Invention
The invention aims to provide a high-precision UWB indoor positioning system which is convenient to deploy and low in cost, and provides a positioning method under various conditions by combining the system.
In order to achieve the design purpose, the invention adopts the following design scheme, and the invention discloses a single-base-station high-precision UWB indoor positioning system which is characterized by comprising a positioning base station, a positioning module and a positioning module, wherein the positioning base station is used for positioning a positioning label; the positioning tag is used for realizing positioning through communication with a positioning base station; a positioning antenna A on the positioning base station is used for receiving and sending the ranging frame; and other positioning antennas except the positioning antenna A on the positioning base station are used for receiving the ranging frame sent by the positioning label.
Preferably, the positioning tag includes: the digital communication system, single positioning antenna and radio frequency and baseband system that can send and receive that satisfy UWB communication protocol, the location basic station includes: a digital communication system satisfying the UWB communication protocol, and an array consisting of a positioning antenna A and other positioning antennas.
Preferably, the array composed of the positioning antenna a and other positioning antennas comprises an antenna array for two-dimensional planar positioning and an array for three-dimensional spatial positioning, and the number N of the antennas of the array composed of the positioning antenna a and other positioning antennas is more than 1.
The invention discloses a single-base-station high-precision UWB indoor positioning method, which comprises the following steps:
the positioning base station sends a positioning request to the positioning tag through the positioning antenna A, the positioning tag sends a ranging frame 1 to the positioning base station after receiving the positioning request, and simultaneously records a first sending timestamp TTagTx1；
The array composed of the positioning antenna A and other positioning antennas receives the ranging frame 1, and calculates the time difference T between the ranging frame 1 reaching other positioning antenna ports and the ranging frame 1 reaching the positioning antenna A portd；
The positioning antenna A sends a ranging frame 2, the positioning tag receives the ranging frame 2 and records a second receiving time stamp Ttagrx1；
The positioning tag sends a ranging frame 3 and carries a first sending timestamp T for sending the ranging frame 1TagTx1And a second reception time stamp T of the reception ranging frame 2TagRx1；
And the positioning antenna A receives the ranging frame 3 and calculates the spatial position of the positioning tag relative to the positioning base station.
Preferably, the array composed of the positioning antenna a and other positioning antennas receives the ranging frame 1, and calculates the time difference T between the ranging frame 1 reaching other positioning antenna ports and the ranging frame 1 reaching the positioning antenna port ad: the positioning base station receives the ranging frame 1 sent by the positioning label through the A port of the positioning antenna and records a first receiving timestamp TBasRx1The ranging frame 1 reaches a base station receiver through N antenna ports and generates N paths of receiving signals; other positioning antennasCalculating the time difference T between the arrival of the ranging frame 1 at other positioning antenna ports and the arrival of the ranging frame 1 at the positioning antenna A port through the N paths of received signalsd。
Preferably, the receiving, by the positioning antenna a, the ranging frame 3 and calculating the spatial position of the positioning tag relative to the positioning base station includes: the positioning base station calculates the distance d from the positioning antenna A to the antenna port of the positioning tag by using a two-way ranging algorithm; the positioning base station calculates the arrival pitch angle and the azimuth angle of the positioning tag relative to the positioning base station by utilizing an AOA algorithm; and the positioning base station calculates the spatial position of the positioning tag relative to the positioning base station by using the two-way ranging result and the AOA result.
Preferably, the other positioning antennas calculate the time difference T between the arrival of the ranging frame 1 at the other positioning antenna ports and the arrival of the ranging frame 1 at the positioning antenna port a through the N-path received signalsdThe method comprises the following steps: the other N-1 paths of signals received by the positioning base station except the receiving signal generated by the antenna A are respectively in sliding correlation with the signal received by the port A of the positioning antenna, and the first path arrival time difference T between the other N-1 paths of signals and the signal of the port A of the positioning antenna is determined by utilizing the correlation peak valuedWherein
Respectively representing the first path arrival time difference of signals from the first other positioning antenna to the (N-1) th other positioning antenna and the port A of the positioning antenna.
Preferably, the calculating, by the positioning base station, the distance d from the positioning antenna a to the positioning antenna port on the positioning tag by using a two-way ranging algorithm includes: d ═ TToFX c, c is the speed of light, wherein
Preferably, the calculating, by the positioning base station, the elevation angle and the azimuth angle of the positioning tag relative to the positioning base station by using the AOA algorithm includes: the N paths of received signals are approximately parallel incidence, and the light speed c and the arrival time difference T are utilizeddCalculating the difference of the arrival path deltadxWherein Δ dx＝TdX c, thereby calculating the relative distance B between other positioning antennas and the positioning tagx＝(d+Δdx) And calculating the pitch angle and the azimuth angle of the incident signal by combining the distance L between the positioning antennas through a geometric method.
Preferably, the calculating, by the positioning base station, the spatial position of the positioning tag relative to the positioning base station by using the two-way ranging result and the AOA result includes: the pitch angle and the azimuth angle of the positioning base station on the known positioning label signals and the relative distance B between the positioning base station and other positioning antennasxIn this case, the spatial relative position of the positioning tag with respect to the positioning base station can be determined by means of geometric positioning.
The invention has the beneficial effects that: the single-base-station multi-positioning-antenna UWB positioning technology is used for replacing a multi-base-station UWB positioning technology, so that the deployment cost is greatly reduced, and the deployment time is shortened; because the invention carries out information interaction with the positioning label through the plurality of positioning antennas on the single base station, relative errors are reduced compared with a multi-base station positioning method, and the positioning precision is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a single-base-station high-precision UWB indoor positioning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a two-dimensional indoor positioning method in a non-specific scene according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a three-dimensional indoor positioning method in a non-specific scene according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a two-dimensional indoor positioning method in a specific scene according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a three-dimensional indoor positioning method in a specific scene according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention relates to a single-base-station high-precision UWB indoor positioning system, which comprises a positioning base station, a positioning module and a positioning module, wherein the positioning base station is used for positioning a positioning tag; the positioning tag is used for realizing positioning through communication with a positioning base station; a positioning antenna A on the positioning base station is used for receiving and sending the ranging frame; and other positioning antennas except the positioning antenna A on the positioning base station are used for receiving the ranging frame sent by the positioning label.
The positioning tag includes: the digital communication system meeting the UWB communication protocol can effectively realize the DSP algorithm of the first path detection; a single positioning antenna capable of receiving and transmitting and a radio frequency and baseband system can carry out effective first path detection and timestamp recording on a received ranging frame; the positioning base station includes: the digital communication system meeting the UWB communication protocol can effectively realize the DSP algorithm of the first path detection and an array consisting of a positioning antenna A and other positioning antennas.
The array formed by the positioning antenna A and other positioning antennas comprises an antenna array which can be used for two-dimensional plane positioning and an array which can be used for three-dimensional space positioning, and the number N of the positioning antennas of the array formed by the positioning antenna A and other positioning antennas meets the condition that N is more than 1; the positioning antenna A has the functions of receiving and transmitting, and the other N-1 positioning antennas except the positioning antenna A have the receiving function. The N positioning antennas of the positioning base station have a receiving function, and the wireless signal bearing the ranging frame 1 reaches a base station receiver through a positioning antenna port and generates N paths of receiving signals.
As shown in fig. 1, based on the previous embodiment, the present invention discloses a single base station high-precision UWB indoor positioning method, which comprises the following steps:
s101, a positioning base station sends a positioning request to a positioning tag through a positioning antenna A;
s102, after receiving a positioning request, a positioning tag sends a ranging frame 1 to a positioning base station, and records and sends a timestamp; the ranging frame is a frame structure which can be used for completing the distance measurement between devices in a UWB system, and a positioning tag needs to record a first sending time stamp T while sending the ranging frameTagTx1。
S103, the positioning base station receives the ranging frame 1 sent by the positioning label through the A port of the positioning antenna and records a receiving time stamp; the positioning base station receiver calculates the time of the ranging frame 1 reaching the positioning antenna port A by using a first path detection algorithm; the receiver performs a first path detection algorithm on a set of received signals arriving at the receiver via the positioning antenna port a, thereby obtaining a first receive timestamp TBasRx1。
S104, respectively calculating the arrival time difference between the ranging frame 1 and the positioning antenna port A of the positioning base station by using the sliding correlation algorithm for the other positioning antennas; the other N-1 paths of signals received by the base station are respectively subjected to sliding correlation on the signals received by the A port of the positioning antenna, and the first path arrival time difference of the other N-1 paths of signals and the signals of the A port of the positioning antenna is determined by utilizing the correlation peak value:
respectively representing the first path arrival time difference of signals from the first other positioning antenna to the (N-1) th other positioning antenna and the port A of the positioning antenna.
S105, the positioning base station sends a ranging frame 2 through a positioning antenna A.
S106, the positioning label receives the ranging frame 2 and records the time stamp information; the tag receiver performs a first path detection algorithm on a set of received signals arriving at the receiver via the positioning antenna port to obtain a second receive timestamp TTagRx1；
S107, the positioning label sends a ranging frame 3 and carries a first sending time stamp T for sending the ranging frame 1TagTx1And a second reception time stamp T of the reception ranging frame 2TagRx1(ii) a The positioning tag sends the ranging frame 3 and simultaneously records the timestamp information TTagTx1、TTagRx1And the like are sent out together.
S108, the positioning base station receives the ranging frame 3 through the positioning antenna A and records a third receiving timestamp;
s109, the positioning base station calculates the distance from the positioning antenna A to the positioning antenna port of the positioning tag by using a two-way ranging algorithm; the positioning base station combines the time stamp information of the positioning antenna A and the positioning label with a symmetrical two-way ranging method, so that the accurate direct distance estimation value d-T between the positioning label and the positioning antenna A can be obtainedToFX c (c is the speed of light), wherein
S110, the positioning base station calculates the arrival pitch angle and the azimuth angle of the positioning label relative to the positioning base station by utilizing an AOA algorithm; the N paths of received signals are approximately parallel incidence, and the light speed and the arrival time difference T are utilizeddAnd calculating the difference of the path of arrival, and calculating the pitch angle and the azimuth angle of the incident signal by combining the distance L between the positioning antennas.
And S111, the positioning base station calculates the spatial position of the positioning tag relative to the positioning base station by using the two-way ranging result and the AOA result. The arrival angle and the relative distance B of the positioning base station at the known label signalxIn this case, the spatial relative position of the positioning tag with respect to the positioning base station can be determined by means of geometric positioning.
The embodiment of the indoor positioning system can be obtained by combining the attached drawings, and is respectively suitable for two-dimensional and three-dimensional indoor positioning in a non-specific scene and two-dimensional and three-dimensional indoor positioning in a specific scene.
Fig. 2 shows two-dimensional positioning in a non-specific scene, where the number N of antennas of an antenna array that can be used for two-dimensional in-plane positioning is 3, and the antennas are respectively named as a positioning antenna a, a positioning antenna B, and a positioning antenna C, where the positioning antenna a has a function of receiving and transmitting a ranging frame, and the positioning antenna B and the positioning antenna C have a function of receiving a ranging frame; and a positioning antenna A, a positioning antenna B and a positioning antenna C which are arranged on the positioning base station are positioned on the same horizontal plane. Based on the previous embodimentThe positioning base station calculates the distance d between the positioning antenna A and the positioning tag positioning antenna port as T by using a two-way ranging algorithmToFX c (c is the speed of light), wherein,
positioning antenna B and positioning antenna C reuse light speed and arrival time difference TdWherein
Calculating the difference of the arrival path deltadxWherein Δ dx＝TdX c, c is the speed of light, according to Bx＝(d+Δdx) Obtaining the relative distance B between the positioning antenna B and the positioning label1＝(d+Δd1) The relative distance B between the positioning antenna C and the positioning tag2＝(d+Δd2) In combination with the positioning inter-antenna distance L, L can be measured in the field, L ═ L1,L2,L3}，L1Is the distance between antenna A and antenna B, L2Is the distance between antenna A and antenna C, L3For the distance between the antenna B and the antenna C, the pitch angle and the azimuth angle of the incident signal can be easily calculated by a geometric mathematical method on the premise that the length of three sides of a triangle formed by the positioning tag, the positioning antenna a and the positioning antenna B (or the positioning antenna C) is known. When the arrival angle and the relative distance of the tag signal are known, the positioning base station can determine the spatial relative position of the positioning tag relative to the positioning base station by using a geometric positioning mode, so that the positioning base station can position the positioning tag.
Fig. 3 shows three-dimensional positioning in a non-specific scene, where the number N of antennas of an array that can be used for three-dimensional positioning is 4, and the antennas are respectively named as a positioning antenna a, a positioning antenna B, a positioning antenna C, and a positioning antenna D, where the positioning antenna a has a function of receiving and transmitting a ranging frame, and the positioning antenna B, the positioning antenna C, and the positioning antenna D have a function of receiving a ranging frame; a positioning antenna A, a positioning antenna C and a positioning antenna D arranged on the positioning base station are respectively positioned on the Y axis, the X axis and the Z axis of a three-dimensional coordinate system with the positioning base station as the origin, and the positioning base isThe positioning antenna B arranged on the station is positioned at any position of a three-dimensional coordinate system with the positioning base station as an origin. Based on the previous embodiment, it can be calculated that the relative distance between the positioning antenna B and the positioning tag is B1＝(d+Δd1) The relative distance between the positioning antenna C and the positioning label is B2＝(d+Δd2) And the relative distance between the positioning antenna D and the positioning label is B3＝(d+Δd3) In combination with the positioning inter-antenna distance L, L can be measured in the field, L ═ L1,L2,L3,L4}，L1Is the distance between antenna A and antenna B, L2Is the distance between antenna A and antenna C, L3Is the distance between antenna B and antenna C, L4The pitch and azimuth angles of the incident signal are calculated for the distance between antenna a and antenna D. When the arrival angle and the relative distance of the tag signal are known, the positioning base station can determine the spatial relative position of the positioning tag relative to the positioning base station by using a geometric positioning mode, so that the positioning base station can position the positioning tag.
Fig. 4 shows two-dimensional positioning in a specific scene, where the number N of antennas of an antenna array that can be used for two-dimensional planar positioning is 2, and the antennas are respectively named as a positioning antenna a and a positioning antenna B, where the positioning antenna a has a function of receiving and sending a ranging frame, and the positioning antenna B has a function of receiving a ranging frame; the positioning base station can eliminate a positioning fuzzy point by means of auxiliary equipment such as a gyroscope and the like; based on the previous embodiment, it can be calculated that the relative distance between the positioning antenna B and the positioning tag is B1＝(d+Δd1) And calculating the pitch angle and the azimuth angle of the incident signal by combining the distance L between the positioning antennas. When the arrival angle and the relative distance of the tag signal are known, the positioning base station can determine the spatial relative position of the positioning tag relative to the positioning base station by using a geometric positioning mode, so that the positioning base station can position the positioning tag.
Fig. 5 shows three-dimensional positioning in a specific scene, where the number N of antennas in an array that can be used for three-dimensional positioning in space is 3, and the antennas are respectively named as a positioning antenna a, a positioning antenna B, and a positioning antenna C, where the positioning antenna a has a function of receiving and transmitting a ranging frame, and the positioning antennas B and C have a function of receiving and transmitting a ranging frameA function of receiving a ranging frame; a positioning antenna A and a positioning antenna C arranged on a positioning base station are respectively positioned on a Y axis and an X axis of a three-dimensional coordinate system taking the positioning base station as an origin, and a positioning fuzzy point of the positioning base station can be eliminated by the aid of auxiliary equipment such as a gyroscope and the like when a positioning antenna B arranged on the positioning base station is positioned at any position of the three-dimensional coordinate system taking the positioning base station as the origin. (ii) a Based on the previous embodiment, it can be calculated that the relative distance between the positioning antenna B and the positioning tag is B1＝(d+Δd1) The relative distance between the positioning antenna C and the positioning label is B2＝(d+Δd2) And calculating the pitch angle and the azimuth angle of the incident signal by combining the distance L between the positioning antennas (the distance L is a known number and is measured when the positioning antennas are deployed). When the arrival angle and the relative distance of the tag signal are known, the positioning base station can determine the spatial relative position of the positioning tag relative to the positioning base station by using a geometric positioning mode, so that the positioning base station can position the positioning tag.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A single-base-station high-precision UWB indoor positioning system is characterized by comprising a positioning base station, a positioning module and a positioning module, wherein the positioning base station is used for positioning a positioning tag; the positioning tag is used for realizing positioning through communication with a positioning base station; a positioning antenna A on the positioning base station is used for receiving and sending the ranging frame; and other positioning antennas except the positioning antenna A on the positioning base station are used for receiving the ranging frame sent by the positioning label.
2. The system of claim 1, wherein the locating tag comprises: the digital communication system, single positioning antenna and radio frequency and baseband system that can send and receive that satisfy UWB communication protocol, the location basic station includes: a digital communication system satisfying the UWB communication protocol, and an array consisting of a positioning antenna A and other positioning antennas.
3. The system of claim 2, wherein the array of positioning antennas A and other positioning antennas comprises an antenna array for two-dimensional planar positioning and an array for three-dimensional spatial positioning, and the number of antennas N of the array of positioning antennas A and other positioning antennas is greater than 1.
4. A single base station high-precision UWB indoor positioning method is characterized by comprising the following steps:
the positioning base station sends a positioning request to the positioning tag through the positioning antenna A, the positioning tag sends a ranging frame 1 to the positioning base station after receiving the positioning request, and simultaneously records a first sending timestamp TTagTx1；
The array composed of the positioning antenna A and other positioning antennas receives the ranging frame 1, and calculates the time difference T between the ranging frame 1 reaching other positioning antenna ports and the ranging frame 1 reaching the positioning antenna A portd；
The positioning antenna A sends a ranging frame 2, the positioning tag receives the ranging frame 2 and records a second receiving time stamp Ttagrx1；
The positioning tag sends a ranging frame 3 and carries a first sending timestamp T for sending the ranging frame 1TagTx1And a second reception time stamp T of the reception ranging frame 2TagRx1；
And the positioning antenna A receives the ranging frame 3 and calculates the spatial position of the positioning tag relative to the positioning base station.
5. The method of claim 4, wherein the array of positioning antenna A and other positioning antennas receives ranging frame 1 and calculates the time difference T between the arrival of ranging frame 1 at other positioning antenna ports and the arrival of ranging frame 1 at positioning antenna A portd: the positioning base station receives the ranging frame 1 sent by the positioning label through the A port of the positioning antenna and records a first receiving timestamp TBasRx1Ranging frame 1 arrives at the base station receiver via N antenna ports and generates N receive signalsNumber; the other positioning antennas calculate the time difference T between the distance measurement frame 1 reaching the other positioning antenna ports and the distance measurement frame 1 reaching the positioning antenna A port through the N paths of received signalsd。
6. The method of claim 4, wherein the positioning antenna A receives the ranging frame 3 and calculates the spatial position of the positioning tag relative to the positioning base station comprises: the positioning base station calculates the distance d from the positioning antenna A to the antenna port of the positioning tag by using a two-way ranging algorithm; the positioning base station calculates the arrival pitch angle and the azimuth angle of the positioning tag relative to the positioning base station by utilizing an AOA algorithm; and the positioning base station calculates the spatial position of the positioning tag relative to the positioning base station by using the two-way ranging result and the AOA result.
7. The method of claim 5, wherein the other positioning antennas calculate the time difference T between the arrival of ranging frame 1 at the other positioning antenna port and the arrival of ranging frame 1 at the positioning antenna A port through N received signalsdThe method comprises the following steps: the other N-1 paths of signals received by the positioning base station except the receiving signal generated by the antenna A are respectively in sliding correlation with the signal received by the port A of the positioning antenna, and the first path arrival time difference T between the other N-1 paths of signals and the signal of the port A of the positioning antenna is determined by utilizing the correlation peak valuedWherein
Respectively representing the first path arrival time difference of signals from the first other positioning antenna to the (N-1) th other positioning antenna and the port A of the positioning antenna.
8. The method of claim 6, wherein the positioning base station calculates the distance d from the positioning antenna A to the positioning antenna port on the positioning tag by using a two-way ranging algorithm, comprising: d ═ TToFX c, c is the speed of light, wherein
9. The method of claim 6, wherein the positioning base station calculates the elevation angle and the azimuth angle of the positioning tag relative to the positioning base station by using the AOA algorithm comprises: the N paths of received signals are approximately parallel incidence, and the light speed c and the arrival time difference T are utilizeddCalculating the difference of the arrival path deltadxWherein Δ dx＝TdX c, thereby calculating the relative distance B between other positioning antennas and the positioning tagx＝(d+Δdx) And calculating the pitch angle and the azimuth angle of the incident signal by combining the distance L between the positioning antennas through a geometric method.
10. The method of claim 6, wherein the positioning base station calculating the spatial position of the positioning tag relative to the positioning base station by using the two-way ranging result and the AOA result comprises: the pitch angle and the azimuth angle of the positioning base station on the known positioning label signals and the relative distance B between the positioning base station and other positioning antennasxIn this case, the spatial relative position of the positioning tag with respect to the positioning base station can be determined by means of geometric positioning.
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| CN113660603A (en) * | 2021-08-13 | 2021-11-16 | 苏州真趣信息科技有限公司 | Positioning system architecture and positioning method based on UWB technology |
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| CN115865377A (en) * | 2023-02-16 | 2023-03-28 | 长沙驰芯半导体科技有限公司 | Time slice-based ultra-wideband ranging scheduling method and system |
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