CN112098985A - UWB positioning method based on millimeter wave detection - Google Patents

UWB positioning method based on millimeter wave detection Download PDF

Info

Publication number
CN112098985A
CN112098985A CN202010941911.XA CN202010941911A CN112098985A CN 112098985 A CN112098985 A CN 112098985A CN 202010941911 A CN202010941911 A CN 202010941911A CN 112098985 A CN112098985 A CN 112098985A
Authority
CN
China
Prior art keywords
millimeter wave
positioning
uwb
data
base station
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010941911.XA
Other languages
Chinese (zh)
Other versions
CN112098985B (en
Inventor
陈晓初
邵龙炬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Ccrfid Microelectronics Co ltd
Original Assignee
Hangzhou Ccrfid Microelectronics Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Ccrfid Microelectronics Co ltd filed Critical Hangzhou Ccrfid Microelectronics Co ltd
Priority to CN202010941911.XA priority Critical patent/CN112098985B/en
Publication of CN112098985A publication Critical patent/CN112098985A/en
Application granted granted Critical
Publication of CN112098985B publication Critical patent/CN112098985B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B75/00—Handcuffs ; Finger cuffs; Leg irons; Handcuff holsters; Means for locking prisoners in automobiles
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/10—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors
    • G01J5/12—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors using thermoelectric elements, e.g. thermocouples
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/10—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors
    • G01J5/12—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors using thermoelectric elements, e.g. thermocouples
    • G01J2005/123—Thermoelectric array
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
    • G01J5/0025—Living bodies

Abstract

The application discloses a UWB positioning method based on millimeter wave detection, which comprises the following steps: setting a unique identification tag for each personnel positioning device, wherein the identification tag is made of two materials with different millimeter wave absorption capacities; matching the millimeter wave image data of the identification tag of the personnel positioning device with the identification data of the UWB tag chip and the matching data of the positioning communication module, and sending the matched data to a server; the millimeter wave radar device detects the millimeter wave image of the identification tag and acquires networking data sent to the UWB positioning base station from the server according to the millimeter wave image of the identification tag; and the UWB positioning base station forms signal transmission with the UWB tag data of the personnel positioning device according to the networking data. The UWB positioning method based on millimeter wave detection has the advantages that low-frequency triggering and different-domain networking can be achieved through millimeter wave images.

Description

UWB positioning method based on millimeter wave detection
Technical Field
The application relates to a UWB positioning method based on millimeter wave detection.
Background
An Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which does not use a sinusoidal carrier but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and thus, the occupied frequency spectrum range is Wide.
The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places.
In addition, the existing devices applied to criminals for escort are mostly non-intelligent devices, such as common handcuffs or foot chains, or have simple positioning functions, such as positioning bracelets, which do not have a living body detection function, so that certain risks exist.
In addition, the UWB positioning system is always in a working state, energy is easily wasted, and particularly, an active tag device cannot continuously work due to electric energy consumption; moreover, continuous positioning work is easy to cause channel busy and data redundancy.
In addition, the existing UWB positioning system can be used only by networking in advance, which is troublesome.
Disclosure of Invention
A UWB positioning method based on millimeter wave detection is applicable to a positioning system, and the positioning system comprises: the personnel positioning device is used for limiting the action of the escorted personnel; the UWB positioning base station is used for positioning the position of the escort positioning device; the millimeter wave radar device is used for detecting millimeter wave signals and converting the millimeter wave signals into corresponding images; the server is used for forming data interaction with the personnel positioning device, the UWB positioning base station and the millimeter wave radar device; the person positioning device comprises: the UWB tag chip is used for receiving and transmitting UWB signals; the positioning processor is used for processing the data or signals of the UWB tag chip; the positioning communication chip is used for enabling the positioning processor to form data interaction with the outside; a device identifier for being detected and imaged by the millimeter wave radar to obtain information of the person locating device; the UWB positioning method based on millimeter wave detection comprises the following steps: setting a unique identification tag for each personnel positioning device, wherein the identification tag is made of two materials with different millimeter wave absorption capacities; matching the millimeter wave image data of the identification tag of the personnel positioning device with the identification data of the UWB tag chip and the matching data of the positioning communication module, and sending the matched data to a server; the millimeter wave radar device detects the millimeter wave image of the identification tag and acquires networking data sent to the UWB positioning base station from the server according to the millimeter wave image of the identification tag; and the UWB positioning base station forms signal transmission according to the networking data and the personnel positioning device UWB tag data.
Further, the device identification is configured as one of a two-dimensional code, a sun code, or a bar code.
Furthermore, the millimeter wave radar device and the personnel positioning device form communication connection through a Bluetooth protocol.
Furthermore, the millimeter wave radar device and the UWB positioning base station form communication connection through a Bluetooth protocol.
Further, the UWB positioning base station includes: the UWB base station chip is used for forming signal transmission with the UWB tag chip; the base station communication chip is used for realizing communication connection; a base station processor for processing the positioning data; the UWB base station chip and the base station communication chip are respectively and electrically connected to the base station processor; the millimeter wave radar device includes: a millimeter wave sensor for detecting a millimeter wave signal; the radar communication chip is used for realizing wireless communication; the radar processor is used for generating picture data based on millimeter wave detection and processing and identifying information in the picture data; the millimeter wave sensor and the radar communication chip are respectively and electrically connected to the radar processor; the radar communication chip and the positioning communication chip form communication connection so that the radar processor sends an activation instruction to the positioning communication chip to activate the UWB tag chip when recognizing the personnel positioning device.
Further, the radar communication chip and the base station communication chip form communication connection, so that the radar processor sends an activation instruction to the base station communication chip to activate the UWB base station chip when recognizing the personnel positioning device.
Further, the person positioning device includes: a first thermopile sensor for detecting a wrist temperature of a person; the first thermopile sensor is electrically connected to the positioning processor; when the temperature data detected by the first thermopile sensor is lower than a preset value, the positioning communication chip sends an instruction signal to the millimeter wave radar device to enable the millimeter wave radar device to activate and detect a target object in the area, and if no human target exists, corresponding information is fed back to the positioning chip to enable the UWB tag chip to sleep.
Further, when the millimeter wave radar device detects the personnel positioning device, the personnel data of the personnel positioning device are detected and processed.
Further, when the millimeter wave radar device does not detect a person image for a certain period of time, the millimeter wave radar device controls the UWB positioning base station in the same place to stand by and executes a low-power-consumption standby program.
Further, the low-power-consumption standby program is used for controlling the millimeter wave radar device to perform millimeter wave scanning on the place every time a set time passes, or the low-power-consumption standby program is used for controlling the millimeter wave radar device to reduce the imaging precision.
The application has the advantages that: the UWB positioning method based on millimeter wave detection can realize low-frequency triggering and different-domain networking through millimeter wave images.
Drawings
FIG. 1 is a perspective view of a person positioning apparatus according to one embodiment of the present application;
FIG. 2 is a schematic view of the personnel locating device of the embodiment shown in FIG. 1 in one of the bracelet-open states;
FIG. 3 is a schematic diagram of the internal structure of a portion of the person locating apparatus of the embodiment shown in FIG. 1;
FIG. 4 is an enlarged view of the package of FIG. 3;
FIG. 5 is a schematic view of the internal structure of another part of the person locating device of the embodiment shown in FIG. 1;
FIG. 6 is an enlarged partial schematic view of the embodiment of FIG. 1;
FIG. 7 is a schematic view of the structure of FIG. 5 with the locking pin removed;
FIG. 8 is a block diagram schematic of an architecture of a positioning system according to an embodiment of the present application;
FIG. 9 is a block diagram of positioning device module components according to an embodiment of the present application;
FIG. 10 is a schematic block diagram of a positioning system according to an embodiment of the present application;
fig. 11 is a block diagram illustrating the steps of a UWB location method based on millimeter wave detection according to the present application.
The meaning of the reference symbols in the figures:
a person positioning device 100; bracelets 101, 102; a connecting device 103; a first housing 104; a second housing 105; a first circuit board 106; a second circuit board 107; a UWB tag chip 108; an IMU chip 109; a positioning processor 110; positioning the communication chip 111; a power supply 112; a structural connector 113; a link cable 114; a fixing frame 115; a rotating frame 116; a first locking portion 117; a second locking portion 118; a lock frame 119; a first through-pin hole 120; a second through-pin hole 121; a blind locking hole 122; a locking pin 123; a drive gear 124; a disc motor 125; a rack structure 126; a gas pressure chip 127; a fingerprint device 128; a charging coil 129; a super capacitor 130; a charging interface 131; an indicator light 132; an air pressure window 133; a first thermopile sensor 134; a second thermopile sensor 135; an optical element 136; an enclosure 137; a thermally conductive adhesive layer 138; a phase change material layer 139; an NTC element 140; an identification tag 141; a positioning system 200; a person positioning device 201; a UWB positioning base station 202; a server 203; a mobile terminal 204; a fixed terminal 205; a person positioning device 300; a positioning processor 301; a UWB ranging module 302; a remote location module 303; a communication module 304; an IMU module 305; an air pressure module 306; a power supply module 307; a charging module 308; a first thermopile sensor 309; a second thermopile sensor 310; an NTC module 311; the positioning system 400, a personnel positioning device 401, a UWB positioning base station 403, a base station positioning processor 404, a base station positioning communication chip 405, a millimeter wave radar device 406, a millimeter wave sensor 407, a radar positioning processor 408, a radar positioning communication chip 409 and a server 410.
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 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 should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. 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.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1 to 6, the person positioning apparatus is configured as a handcuff device including: two bracelets, connecting device, first casing, second casing, first circuit board, second circuit board, UWB label chip, IMU chip, location treater, location communication chip, power.
Wherein, two bracelets are used for spacing personnel's wrist. The connecting device is used for movably connecting the two bracelet devices. As a specific scheme, the bracelet can be made of metal materials. The connecting device includes: structural connectors and link cables. The structure connecting piece is used for enabling the two bracelets to form a whole; the link cable is used for electrically connecting the first circuit board and the second circuit board. The structural connection piece can adopt metal material to make, and the structural connection piece is used for two metal material to make the bracelet and connects in order to play restriction personnel's activity, provides sufficient structural strength, and as the alternative, the structural connection piece constitutes with bracelet (the fixed frame of bracelet) and rotates to be connected. The function of the link cable is to make the circuit board or electrical component in the first shell and the second shell form an electrical connection.
As a specific scheme, the first shell is fixedly connected to one of the bracelets; the second shell is fixedly connected to the other bracelet; the first circuit board is arranged in the first shell; the second circuit board is disposed in the second housing. The first shell can be made of high-strength plastic materials, such as ABS (acrylonitrile butadiene styrene) plastics, or a metal alloy shell, so that the strength is ensured, and the heat dissipation of the circuit board is facilitated. First casing and second casing can be constructed as two half structures and pass through modes such as bolt and install to the bracelet, as further scheme, can adopt integrated into one piece's mode machine-shaping bracelet and first casing and second casing, and as preferred scheme, first casing and second casing inboard are equipped with sealed the pad, perhaps fill and have heat-conducting glue to realize sealed and absorbing effect.
As a specific scheme, the UWB tag chip is used for transceiving UWB signals; specifically, the UWB tag chip is a UWB tag chip, that is, the UWB tag chip is mainly used to be located, that is, as a tag in the UWB locating system, which can be located by a locating base station, that is, an anchor. The UWB tag chip can be located by a location base station.
As a specific solution, the IMU chip is used to detect a parameter of the motion, and specifically, the IMU chip may detect a change in the inertia of the motion, thereby detecting a change in the motion state of the person positioning apparatus.
As a specific scheme, the positioning processor is used for processing data of the UWB tag chip and the IMU chip; and the positioning processor monitors the position and the motion state of the personnel according to the data of the UWB tag chip and the IMU chip.
The positioning communication chip is used for enabling the positioning processor to form data interaction with the outside, and specifically, the positioning communication chip can realize wireless communication connection and perform wireless communication in communication modes such as 3G, 4G, 5G, LoRa, NB-IOT and the like.
The power supply is used for supplying power for the UWB tag chip, the IMU chip, the positioning processor and the positioning communication chip. The power supply may be a lithium battery or other high capacity low self-discharge battery device. Preferably, the power supply is configured in a rectangular block shape to be easily coupled to the circuit board and accommodated inside the second housing.
In order to better configure each component and enable the battery to have larger capacity, the UWB tag chip, the IMU chip, the positioning communication chip and the positioning processor are electrically connected to the first circuit board; the power supply is electrically connected to the second circuit board. This makes the best use of the internal space of the first and second housings.
As a specific scheme, the bracelet includes: fixed frame and rotation frame. The fixed frame is fixedly connected with the first shell or the second shell; the rotating frame is rotatably connected to the fixed frame so that the rotating frame and the fixed frame can constitute a closed structure. The rotating frame and the fixed frame can form a closed or opened ring through rotation, so that the bracelet can be conveniently closed or opened.
As a more specific aspect, the fixed frame is provided with a first locking portion, the rotating frame is provided with a second locking portion, and the person positioning apparatus further includes: and a lock frame rotatably connected to the first locking part to lock the first locking part and the second locking part together when the lock frame is rotated to a preset position. The lock frame can restrict the first locking portion and the second locking portion to be within the range of the lock frame by rotating.
As a more specific scheme, the first locking part is provided with a first through pin hole, the second locking part is provided with a second through pin hole, and the lock frame is provided with a locking blind hole; when the rotating frame rotates to the preset position and the locking frame rotates to the preset position, the first through pin hole, the second through pin hole and the locking blind hole are aligned.
In order to achieve automatic locking, the personnel positioning device further comprises a lock pin, a driving gear and a disc motor. Wherein the locking pin is slidably connected to the first locking portion and at least partially inserted into the first through-pin hole; the driving gear is used for driving the lock pin to slide; the disc type motor is used for rotating the driving gear; the lock pin is provided with a rack structure, and the driving gear is meshed with the rack structure of the lock pin; the disk motor is electrically connected to the first circuit board or the second circuit board.
Specifically, in order to lock both the bracelets, a set of lock pins, a drive gear, and a disc motor are provided in the first and second housings, respectively. When needs locking bracelet, disk motor makes drive gear rotate to thereby drive rack structure makes the lockpin remove insert the locking blind hole behind first through pinhole, the second through pinhole, thereby lock the lock frame and make it can not rotate, thereby realize the locking to fixed frame and rotation frame.
Specifically, the person positioning apparatus further includes: the atmospheric pressure chip. The air pressure chip is used for detecting air pressure data; the air pressure chip is electrically connected to the first circuit board or the second circuit board. Preferably, the air pressure chip is electrically connected to the second circuit board, so that the space can be more reasonably utilized.
Specifically, the person positioning apparatus further includes: fingerprint device. The fingerprint device is used for collecting fingerprint information; the fingerprint device is mounted to the first shell and exposed out of the first shell; the fingerprint device is electrically connected to the first circuit board. Therefore, when escorting, the authorized personnel can control unlocking through biological identification.
Specifically, the person positioning apparatus further includes: charging coil and ultracapacitor. The charging coil is accommodated in the second shell and electrically connected with the second circuit board; the super capacitor is used for storing electric energy and is electrically connected with the second circuit board. The charging coil can realize wireless charging. After the wireless charging device is used, the wireless charging device is placed in a storage box with a wireless charging function every time, and the charging function can be achieved. The super capacitor can store electric energy, and has the advantage of providing an energy storage element which can store electric energy rapidly besides the battery.
On the basis of the above solutions, as shown in fig. 3 and 4, the person positioning apparatus further includes: the device comprises a first thermopile sensor, a second thermopile sensor, an optical element, a packaging box, a heat-conducting glue layer, a phase-change material layer and an NTC element.
The first thermopile sensor is used for detecting the wrist temperature of a person; the second thermopile sensor is for providing an electrical signal as a control. The effect of setting up like this mainly lies in, when ambient temperature is overheated, makes the location processor can judge to cause first thermopile sensor to cause the data to increase because personnel's body temperature is unusual, still because the temperature that ambient temperature caused increases, makes the detection of first thermopile sensor malfunctioning even.
As a specific scheme, the first thermopile sensor and the second thermopile sensor are electrically connected to the first circuit board; the bracelet is equipped with the mounting hole that runs through the bracelet, and first thermopile sensor sets up so that first thermopile sensor can receive the infrared radiation that comes from the bracelet inboard in the mounting hole, and the second thermopile sensor sets up inside first casing or the second casing.
As a more specific solution, the fixing frame of one of the bracelets is provided with a mounting hole, the fixing frame being a part of a circular ring, the mounting hole extending substantially in a radial direction of the fixing frame. The mounting hole may be provided as a square hole, and the first thermopile sensor and the optical element may be mounted therein by filling a heat conductive paste.
An optical element for directing infrared radiation into the first thermopile sensor; the optical element is provided with an arc light guide surface, and the bending direction of the light guide surface is the same as the direction of the fixing frame. The same bending direction means that the light guide surface is a concave curved surface. The optical element serves to better focus the infrared radiation.
The packaging box is used for packaging the second thermopile sensor; the packaging box is formed with an enclosed space, and the second thermopile sensor is disposed in the enclosed space of the packaging box. The packaging box mainly has the function of providing a packaging space for accommodating the amorphous phase change material layer and the heat-conducting adhesive layer. It should be noted that the package box is provided with a plurality of box holes for leading out the pins of the second thermopile sensing and NTC element, and the box holes may also be filled with sealing materials such as heat-conducting glue after the placement.
The phase change material layer is arranged between the packaging box and the second thermopile sensor; the phase-change temperature of the phase-change material layer ranges from 40 to 45 ℃. The phase-change material layer has the main effects that when the phase-change material layer reaches the phase-change temperature, the solid phase is converted into the liquid phase, so that heat is absorbed, the ambient temperature in the packaging box is steeply reduced, the temperature data fed back by the second thermopile and the NTC element obviously fluctuates, the positioning processor knows that the ambient temperature is increased to a set maximum value, the server informs the server, and the current temperature possibly has an error due to the fact that the ambient temperature is too high, so that the temperature data fed back by the first thermopile sensor possibly has an error.
The heat-conducting adhesive layer is arranged between the phase-change material layer and the second thermopile sensor; the phase change material measuring layer and the second thermopile sensor are isolated by the heat conducting adhesive layer. An interlayer is formed between the heat-conducting glue layer and the packaging box to contain the phase-change material, and the phase-change material is still limited between the heat-conducting glue layer and the packaging box when changing into a liquid phase.
The NTC element is used for detecting the ambient temperature; the NTC element is arranged in the heat-conducting adhesive layer and electrically connected to the positioning processor. The NTC element is mainly used to directly provide reference data of the ambient temperature. The second thermopile sensor and the first thermopile sensor are the same sensor, so that direct electric signals can be compared between the second thermopile sensor and the first thermopile sensor, and the second thermopile sensor can be used as a detection judgment node of the first thermopile sensor. The second thermopile sensor, the enclosure, and the NTC element are all disposed in the first housing or the second housing. The packaging box, the heat-conducting adhesive layer and the phase-change material layer can be made of materials with high heat conductivity.
As a specific scheme, the surface of the second shell is provided with the device identification which is made of two materials with different millimeter wave absorption capacities, when the millimeter wave radar detects the millimeter wave radar, the two materials generate different colors due to different absorption capacities, and then the identification effect is achieved. Preferably, the device identifier is configured as one of a two-dimensional code, a solar code or a bar code. As a further preferred solution, the two materials of the device identification are indistinguishable under visible light, with the two materials having approximately the same surface, i.e., the pattern of the identification label is not recognizable to a person by the naked eye and the tactile sensation. This increases the security of the people positioning device.
Of course, the person positioning device can also be constructed as other devices that can be integrated into the human body, such as a bracelet, a belt, or a device integrated with a write-on.
As shown in fig. 8 to 10, the positioning system of the present application includes: personnel positioning device, UWB location basic station, millimeter wave radar installation and server.
The personnel positioning device is used for limiting the action of personnel; the UWB positioning base station is used for positioning the position of the personnel positioning device; the millimeter wave radar device is used for detecting millimeter wave signals and converting the millimeter wave signals into corresponding images; and the server is used for forming data interaction with the personnel positioning device, the UWB positioning base station and the millimeter wave radar device.
When the millimeter wave radar device detects the millimeter wave image related to the personnel positioning device, the positioning function of the personnel positioning device or/and the UWB positioning base station is directly or indirectly activated. In this way, the positioning system does not work when no person enters the base station area.
As a specific solution, the person positioning device is as described above, which may be coupled to a person to position the person. The UWB positioning base station may be constructed as a fixed positioning base station or a mobile positioning base station. The fixed positioning base station is used for tracking the positioning of personnel indoors, such as the positioning base station in building equipment, and the mobile positioning base station can be constructed into a handheld device or a monitoring device in a compound-set escort vehicle, such as a monitoring cradle head, or a device carried by escort personnel, such as a law enforcement instrument for police.
As a specific solution, from the perspective of the functional module, the person positioning device includes: the device comprises a positioning processor, a UWB tag module, a power supply module, a communication module, an IMU module, an air pressure module, a first thermopile sensor, a second thermopile sensor and an NTC module.
The modules referred to herein are conceptual overlaps of the previously described hardware chips, but are not fully equivalent.
The power supply module supplies power to the micro positioning processor, the UWB tag module, the remote positioning module and the communication module, the UWB tag module is used for forming signal transmission with the UWB positioning base station, and the positioning tag is communicated with other equipment through the communication module; the IMU module is used for detecting the movement data of the handcuff device, and the air pressure module is used for detecting air pressure data; the positioning processor is used for processing data of the UWB tag module, the communication module, the IMU module and the air pressure module.
The communication module is a WIFI module or a GSM module or an NB-IOT module.
As a specific scheme, when the movement data collected by the IMU module is larger than a preset value, the positioning processor activates the UWB tag module. And when the slope of the movement data of the handcuff device collected by the IMU module is greater than a preset value, the positioning processor activates the UWB tag module and sends an alarm instruction.
As a more specific scheme, when the slope of the air pressure data collected by the air pressure module is greater than a preset value, the positioning processor activates the UWB tag module and sends an alarm instruction.
As a more specific aspect, the person positioning apparatus further includes: and a remote positioning module. The remote positioning module is a GPS remote positioning module or a GNSS remote positioning module.
The first thermopile sensor, the second thermopile sensor and the NTC module are respectively and electrically connected to the positioning processor, wherein the first thermopile sensor is used for detecting body temperature, and the second thermopile sensor and the NTC module are used for providing temperature contrast data.
As a specific solution, as shown in fig. 10, the UWB positioning base station includes: the system comprises a UWB base station chip, a base station communication chip and a base station processor, wherein the UWB base station chip is used for forming signal transmission with a UWB tag chip; the base station communication chip is used for realizing communication connection; the base station processor is used for processing the positioning data; the UWB base station chip and the base station communication chip are respectively and electrically connected to the base station processor.
The millimeter wave radar device includes: millimeter wave sensor, radar communication chip and radar processor. The millimeter wave sensor is used for detecting millimeter wave signals; the radar communication chip is used for realizing wireless communication; the radar processor is used for generating picture data based on millimeter wave detection and processing and identifying information in the picture data; the millimeter wave sensor radar communication chips are respectively and electrically connected to the radar processor.
The radar communication chip and the positioning communication chip form communication connection so that the radar processor sends an activation instruction to the positioning communication chip to activate the UWB tag chip when recognizing the personnel positioning device.
The radar communication chip and the base station communication chip are in communication connection, so that the radar processor sends an activation instruction to the base station communication chip to activate the UWB base station chip when recognizing the personnel positioning device.
When the temperature data detected by the first thermopile sensor is lower than a preset value, the positioning communication chip sends an instruction signal to the millimeter wave radar device to enable the millimeter wave radar device to activate and detect the target object in the area, and if no human body target exists, corresponding information is fed back to the positioning chip to enable the UWB tag chip to sleep.
As a more specific solution, the device identification means is unique in the positioning system, and preferably the device identification means may be of a replaceable design, using the unique device identification each time the positioning person is matched, together with the ID information represented by the device identification.
An initialization device is arranged in the positioning system, the initialization device comprises corresponding data interaction equipment and sensors, for example, the initialization device is provided with an RFID card reader, a Bluetooth module, a camera and a millimeter wave sensor, a person positioning device is provided with a unique device identification RFID tag, when a person wears the positioning device, the face information is collected through a camera, the equipment information of a personnel positioning device is read through an RFID card reader, the identification data of an identification label is collected through a millimeter wave sensor, the data are associated into a data group in the system, then the data interaction is carried out with a positioning communication chip (comprising a Bluetooth function) of the personnel positioning device through a Bluetooth module, in order to match the identification tag data with the bluetooth pairing information of the person locating device in the system, the mac address is fixed, and the password can be imported or set through the initialization device. And simultaneously, the related data of the UWB tag chip of the personnel positioning device are also associated, and the initialization equipment stores the data into the server.
When a person enters a place to be positioned, a UWB positioning base station and a millimeter wave radar device in the place are both in a standby state, a trigger device is arranged at a corresponding entrance, if an RFID card reader, an infrared access control or a pressure-triggered access control and the like are used, the devices are not used for identification, but only for detecting the entering condition of the person, after the devices detect that the person enters, the millimeter wave radar device is started up for detection, when the devices scan the person positioning device (can be judged according to the shape), the device identification is further detected, after the device identification is obtained, the millimeter wave radar device accesses a server to obtain a corresponding data packet, then the short-range communication connection is formed by data of the short-range communication connection such as Bluetooth pairing data in the data packet and the person positioning device, such as Bluetooth connection, then through the communication connection, a tag chip in the person positioning device and other devices required for positioning are activated, alternatively, it is confirmed that the person locating device is already in an activated state.
Then, the millimeter wave radar device is connected with the UWB positioning base station in the place through communication, so that the UWB positioning base station and the UWB tag chip are networked to form signal transmission to realize the positioning function.
Therefore, the personnel needing positioning can activate positioning only by wearing the personnel positioning device to enter a monitoring area, and power consumption and data redundancy are reduced when the personnel are not used.
In order to avoid the trigger device from being failed or intentionally avoided, the millimeter wave radar device can scan at regular time so as to ensure that personnel are not missed.
As an extension scheme, when the millimeter wave radar device detects the personnel positioning device, the personnel data of the personnel positioning device is detected and processed at the same time, so that the personnel can be ensured to be positioned as the personnel needing positioning, the monitoring level is improved, and the safety is ensured.
When the millimeter wave radar device does not detect the person image within a certain period of time, the millimeter wave radar device controls the UWB positioning base station in the same place to stand by and executes a low-power-consumption standby program.
The low power consumption standby program comprises two types, wherein one type is interval detection, namely millimeter wave scanning is carried out on the place where the low power consumption standby program is located every time a set time period passes. The other type of the scanning device keeps scanning all the time, but the detection precision is reduced, and the resolution of the millimeter wave image only needs to distinguish whether a person exists or not.
As a development, the millimeter wave image can reflect the temperature situation to some extent, and the millimeter wave radar device and the personnel positioning device perform data transmission to correct the temperature data detected by the first thermopile sensor or provide reference ambient temperature data.
As another extension scheme, the millimeter wave radar device and the personnel positioning device carry out data interaction through millimeter waves.
As another aspect of the present application, the present application provides a UWB positioning method based on millimeter wave detection.
Specifically, the method is suitable for the personnel positioning system provided above, and the UWB positioning method based on millimeter wave detection comprises the following steps:
setting a unique identification tag for each personnel positioning device, wherein the identification tag is made of two materials with different millimeter wave absorption capacities;
matching the millimeter wave image data of the identification tag of the personnel positioning device with the identification data of the UWB tag chip and the matching data of the positioning communication module, and sending the matched data to a server;
the millimeter wave radar device detects the millimeter wave image of the identification tag and acquires networking data sent to the UWB positioning base station from the server according to the millimeter wave image of the identification tag;
and the UWB positioning base station forms signal transmission according to the networking data and the personnel positioning device UWB tag data.
The application also provides a control method, which comprises the following steps: collecting the mobile data of the IMU module; collecting air pressure data of an air pressure module; judging whether the mobile data of the IMU module is larger than a preset value or not; judging whether the air pressure data of the air pressure module is larger than a preset value or not; and when the movement data of the IMU module is greater than a preset value or the air pressure data of the air pressure module is greater than a preset value, the positioning processor activates the UWB tag module. The control method further comprises the following steps: calculating the slope of the movement data of the IMU module; judging whether the slope of the mobile data of the IMU module is greater than a preset value or not; and when the slope of the mobile data of the IMU module is greater than a preset value, the positioning processor activates the UWB tag module and sends an alarm instruction.
The control method further comprises the following steps: calculating the slope of the air pressure data of the air pressure module; judging whether the slope of the air pressure data of the air pressure module is greater than a preset value or not; and when the slope of the mobile data of the IMU module is greater than a preset value, the positioning processor activates the UWB tag module and sends an alarm instruction. The control method further comprises the following steps: collecting ranging data of a UWB tag module; obtaining position data of the positioning tag according to the ranging data; and the positioning processor corrects the position data according to the air pressure module data.
The control method further comprises the following steps: collecting ranging data of a UWB tag module; obtaining position data of the positioning tag according to the ranging data; the positioning processor corrects the position data according to the data of the IMU module.
As another aspect of the present application, there is provided a control method of a escort positioning device based on thermopile infrared detection, including the following steps: the positioning processor acquires first temperature data according to the electric signal of the first thermopile; when the first temperature data is greater than or equal to a first preset temperature value and less than or equal to a second preset temperature value, the positioning processor activates the UWB tag chip, the IMU chip and the positioning communication chip and forms data interaction with the UWB tag chip, the IMU chip and the positioning communication chip; when the first temperature data is smaller than a first preset temperature value and meets a preset duration, the positioning processor sleeps the UWB tag chip, the IMU chip and the positioning communication chip and sends the last position data before the dormancy through the positioning communication chip; when the first temperature data is larger than or equal to a second preset temperature, the positioning processor acquires the second temperature data according to the electric signal of the second thermopile, and if the difference value between the second temperature data and the first temperature data is smaller than the preset value, the positioning processor sends out alarm data.
Between first preset temperature value and the second preset temperature value for setting for normal operating temperature interval, when the temperature was too high or crossed low, can judge current ambient temperature through the signal of telecommunication of second thermopile sensor to it is reasonable to confirm whether first thermopile sensor detected temperature data. Since generally the body temperature and the ambient temperature will generally differ by a reasonable amount.
As a preferable scheme, the positioning processor comprises a time unit which can acquire current seasonal data, and in addition, the positioning processor acquires the geographical position through GPS data, so that the preset value judged by the set difference value can be replaced according to the actual situation. For example, one preset value in summer and another preset value in winter.
In conclusion, the positioning system of the application adopts an intelligent millimeter wave triggering principle, so that the balance of effective monitoring and efficiency cost is ensured, and meanwhile, the accuracy of data triggering is greatly improved due to the temperature detection of the positioning device.
By adopting millimeter wave image recognition and networking, the convenience of the system is considered on one hand, so that the control systems in different areas are more convenient for data intercommunication, and meanwhile, on the other hand, the device identification which cannot be perceived under visible light and the safety of the system are ensured based on millimeter wave image living body detection. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A UWB positioning method based on millimeter wave detection is characterized in that:
the UWB positioning method based on millimeter wave detection is suitable for a positioning system, and the positioning system comprises:
the personnel positioning device is used for limiting the action of the escorted personnel;
the UWB positioning base station is used for positioning the position of the escort positioning device;
the millimeter wave radar device is used for detecting millimeter wave signals and converting the millimeter wave signals into corresponding images;
the server is used for forming data interaction with the personnel positioning device, the UWB positioning base station and the millimeter wave radar device;
the person positioning device comprises:
the UWB tag chip is used for receiving and transmitting UWB signals;
the positioning processor is used for processing the data or signals of the UWB tag chip;
the positioning communication chip is used for enabling the positioning processor to form data interaction with the outside;
a device identifier for being detected and imaged by the millimeter wave radar to obtain information of the person locating device;
the UWB positioning method based on millimeter wave detection comprises the following steps:
setting a unique identification tag for each personnel positioning device, wherein the identification tag is made of two materials with different millimeter wave absorption capacities;
matching the millimeter wave image data of the identification tag of the personnel positioning device with the identification data of the UWB tag chip and the matching data of the positioning communication module, and sending the matched data to a server;
the millimeter wave radar device detects the millimeter wave image of the identification tag and acquires networking data sent to the UWB positioning base station from the server according to the millimeter wave image of the identification tag;
and the UWB positioning base station forms signal transmission according to the networking data and the personnel positioning device UWB tag data.
2. The UWB positioning method based on millimeter wave detection according to claim 1, wherein:
the device identification is configured as one of a two-dimensional code, a solar code, or a bar code.
3. The UWB positioning method based on millimeter wave detection according to claim 1, wherein:
the millimeter wave radar device and the personnel positioning device form communication connection through a Bluetooth protocol.
4. The UWB positioning method based on millimeter wave detection according to claim 1, wherein:
the millimeter wave radar device and the UWB positioning base station form communication connection through a Bluetooth protocol.
5. The UWB positioning method based on millimeter wave detection according to claim 1, wherein:
the UWB positioning base station comprises:
the UWB base station chip is used for forming signal transmission with the UWB tag chip;
the base station communication chip is used for realizing communication connection;
a base station processor for processing the positioning data;
the UWB base station chip and the base station communication chip are respectively and electrically connected to the base station processor;
the millimeter wave radar device includes:
a millimeter wave sensor for detecting a millimeter wave signal;
the radar communication chip is used for realizing wireless communication;
the radar processor is used for generating picture data based on millimeter wave detection and processing and identifying information in the picture data;
the millimeter wave sensor and the radar communication chip are respectively and electrically connected to the radar processor;
the radar communication chip and the positioning communication chip form communication connection so that the radar processor sends an activation instruction to the positioning communication chip to activate the UWB tag chip when recognizing the personnel positioning device.
6. The UWB positioning method based on millimeter wave detection according to claim 5, wherein:
the radar communication chip and the base station communication chip form communication connection so that the radar processor sends an activation instruction to the base station communication chip to activate the UWB base station chip when recognizing the personnel positioning device.
7. The UWB positioning method based on millimeter wave detection according to claim 6, wherein:
the person positioning device comprises:
a first thermopile sensor for detecting a wrist temperature of a person;
the first thermopile sensor is electrically connected to the positioning processor;
when the temperature data detected by the first thermopile sensor is lower than a preset value, the positioning communication chip sends an instruction signal to the millimeter wave radar device to enable the millimeter wave radar device to activate and detect a target object in the area, and if no human target exists, corresponding information is fed back to the positioning chip to enable the UWB tag chip to sleep.
8. The UWB positioning method based on millimeter wave detection according to claim 1, wherein:
when the millimeter wave radar device detects the personnel positioning device, the personnel data of the personnel positioning device are detected and processed.
9. The UWB positioning method based on millimeter wave detection according to claim 1, wherein:
when the millimeter wave radar device does not detect a person image within a certain period of time, the millimeter wave radar device controls the UWB positioning base station in the same place to stand by and executes a low-power-consumption standby program.
10. The UWB positioning method based on millimeter wave detection according to claim 9, wherein:
and the low-power-consumption standby program is used for controlling the millimeter wave radar device to carry out millimeter wave scanning on the place every time a set time period passes or controlling the millimeter wave radar device to reduce the imaging precision.
CN202010941911.XA 2020-09-09 2020-09-09 UWB positioning method based on millimeter wave detection Active CN112098985B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010941911.XA CN112098985B (en) 2020-09-09 2020-09-09 UWB positioning method based on millimeter wave detection

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010941911.XA CN112098985B (en) 2020-09-09 2020-09-09 UWB positioning method based on millimeter wave detection

Publications (2)

Publication Number Publication Date
CN112098985A true CN112098985A (en) 2020-12-18
CN112098985B CN112098985B (en) 2024-04-12

Family

ID=73751153

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010941911.XA Active CN112098985B (en) 2020-09-09 2020-09-09 UWB positioning method based on millimeter wave detection

Country Status (1)

Country Link
CN (1) CN112098985B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112929815A (en) * 2020-12-29 2021-06-08 杭州中芯微电子有限公司 Escort positioning equipment and escort positioning system based on UWB ranging
CN113739790A (en) * 2021-11-02 2021-12-03 亿慧云智能科技（深圳）股份有限公司 Passive indoor positioning system and positioning method
US11704509B2 (en) 2021-07-28 2023-07-18 Samsung Electronics Co., Ltd. Method and electronic device for dynamically associating UWB tag with object

Citations (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007021292A2 (en) * 2005-08-09 2007-02-22 Mitsubishi Electric Research Laboratories Device, method and protocol for private uwb ranging
CN101553831A (en) * 2006-09-18 2009-10-07 诺基亚公司 Method, apparatus and computer program product for viewing a virtual database using portable devices
CN103413198A (en) * 2013-08-02 2013-11-27 四川航天系统工程研究所 Management system used for locating and tracking of areas inside and outside prison
CN104246529A (en) * 2012-02-22 2014-12-24 高通股份有限公司 Locating wireless identity transmitter using short-range wireless broadcasts
CN204442708U (en) * 2014-12-31 2015-07-01 深圳市金溢科技股份有限公司 For the UWB base station of vehicle location
CN105117751A (en) * 2015-08-27 2015-12-02 努比亚技术有限公司 Two-dimensional code transmission method and apparatus
CN105611629A (en) * 2016-01-29 2016-05-25 中国海洋大学 60GHz millimeter wave non-line of sight identification and wireless fingerprint positioning method based on energy detection
CN106128145A (en) * 2016-08-23 2016-11-16 深圳市金溢科技股份有限公司 UWB electronic tag and awakening method thereof and Vehicle positioning system
WO2017015863A1 (en) * 2015-07-28 2017-02-02 深圳市润安科技发展有限公司 Area management method and system for working person in special workplace
EP3154030A1 (en) * 2015-10-07 2017-04-12 Samsung Medison Co., Ltd. Method and apparatus for displaying image showing object
US20170172545A1 (en) * 2015-12-22 2017-06-22 Samsung Medison Co., Ltd. Method and apparatus for displaying ultrasound images
CN107251088A (en) * 2014-11-25 2017-10-13 拉皮斯坎系统股份有限公司 Intelligent and safe management system
CN107430719A (en) * 2015-03-18 2017-12-01 美国联合包裹服务公司 System and method for verifying particulars of goods
CA3030040A1 (en) * 2016-07-20 2018-01-25 United Parcel Service Of America, Inc. Location tracking using beacons
CN107886143A (en) * 2017-11-01 2018-04-06 阳光凯讯(北京)科技有限公司 Intelligent repository goods and materials orientation management system based on ultra wide band and Image Coding
CN107886022A (en) * 2017-11-01 2018-04-06 阳光凯讯(北京)科技有限公司 Intelligent repository goods and materials orientation management system based on ultra wide band and radio frequency identification
CN108389351A (en) * 2018-04-24 2018-08-10 成都恒高科技有限公司 Tag match, fence border control method, apparatus and storage medium
CN108471521A (en) * 2018-03-29 2018-08-31 苏州中科先进技术研究院有限公司 A kind of prison Visualized Monitoring System and method based on rhythm of the heart
CN108595919A (en) * 2018-04-24 2018-09-28 广州视源电子科技股份有限公司 Software activation method, device, system and storage medium
CN108877296A (en) * 2018-08-01 2018-11-23 江苏省送变电有限公司 A kind of collision avoidance system based on Internet of Things
CN109283565A (en) * 2018-09-21 2019-01-29 国网江苏省电力有限公司镇江供电分公司 Indoor and outdoor positioning system and method based on UWB fusion GPS and inertial navigation
CN109298394A (en) * 2018-09-25 2019-02-01 北京琛达射频识别技术有限公司 A kind of positioning floor, positioning system and localization method
CN109828608A (en) * 2019-02-19 2019-05-31 北京海益同展信息科技有限公司 A kind of equipment follower method based on UWB, device and system
CN109996175A (en) * 2019-05-15 2019-07-09 苏州矽典微智能科技有限公司 Indoor locating system and method
CN110148308A (en) * 2019-05-21 2019-08-20 北京百度网讯科技有限公司 Vehicle positioning system in parking garage
CN110366098A (en) * 2019-07-05 2019-10-22 北京海益同展信息科技有限公司 A kind of object localization method and the server for target positioning, base station
CN110543850A (en) * 2019-08-30 2019-12-06 上海商汤临港智能科技有限公司 Target detection method and device and neural network training method and device
CN110599640A (en) * 2019-08-21 2019-12-20 杭州享钥科技有限公司 Personnel monitoring system based on millimeter wave radar
CN210093571U (en) * 2019-04-30 2020-02-18 杭州路瑞科技有限公司 High-precision indoor positioning system based on ultra wide band UWB
CN110839203A (en) * 2019-12-03 2020-02-25 锐捷网络股份有限公司 Ultra-wideband-based label positioning method and device
CN110988829A (en) * 2019-12-27 2020-04-10 福建汉特云智能科技有限公司 Vehicle sensor calibration method and system based on UWB positioning
CN111050287A (en) * 2019-12-20 2020-04-21 福州数据技术研究院有限公司 Low-power-consumption radio frequency identification positioning system and method thereof
CN111083642A (en) * 2019-12-10 2020-04-28 浩云科技股份有限公司 Method for positioning personnel in treasury
CN111091170A (en) * 2019-12-16 2020-05-01 南京申宁达智能科技有限公司 Site personnel management system and management method based on UWB positioning and millimeter wave imaging
CN210768240U (en) * 2019-04-12 2020-06-16 杭州中芯微电子有限公司 Positioning handcuffs and positioning handcuffs release system based on UWB ranging
WO2020126998A1 (en) * 2018-12-20 2020-06-25 Innogy Se Method for serving a product
CN111624593A (en) * 2020-06-10 2020-09-04 北交智慧科技有限公司 Positioning system and positioning method for rail vehicle
CN112097764A (en) * 2020-09-09 2020-12-18 杭州中芯微电子有限公司 Personnel positioning system based on low-frequency trigger mode

Patent Citations (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007021292A2 (en) * 2005-08-09 2007-02-22 Mitsubishi Electric Research Laboratories Device, method and protocol for private uwb ranging
CN101553831A (en) * 2006-09-18 2009-10-07 诺基亚公司 Method, apparatus and computer program product for viewing a virtual database using portable devices
CN104246529A (en) * 2012-02-22 2014-12-24 高通股份有限公司 Locating wireless identity transmitter using short-range wireless broadcasts
CN103413198A (en) * 2013-08-02 2013-11-27 四川航天系统工程研究所 Management system used for locating and tracking of areas inside and outside prison
CN107251088A (en) * 2014-11-25 2017-10-13 拉皮斯坎系统股份有限公司 Intelligent and safe management system
CN204442708U (en) * 2014-12-31 2015-07-01 深圳市金溢科技股份有限公司 For the UWB base station of vehicle location
CN107430719A (en) * 2015-03-18 2017-12-01 美国联合包裹服务公司 System and method for verifying particulars of goods
WO2017015863A1 (en) * 2015-07-28 2017-02-02 深圳市润安科技发展有限公司 Area management method and system for working person in special workplace
CN105117751A (en) * 2015-08-27 2015-12-02 努比亚技术有限公司 Two-dimensional code transmission method and apparatus
EP3154030A1 (en) * 2015-10-07 2017-04-12 Samsung Medison Co., Ltd. Method and apparatus for displaying image showing object
US20170172545A1 (en) * 2015-12-22 2017-06-22 Samsung Medison Co., Ltd. Method and apparatus for displaying ultrasound images
CN105611629A (en) * 2016-01-29 2016-05-25 中国海洋大学 60GHz millimeter wave non-line of sight identification and wireless fingerprint positioning method based on energy detection
CA3030040A1 (en) * 2016-07-20 2018-01-25 United Parcel Service Of America, Inc. Location tracking using beacons
CN106128145A (en) * 2016-08-23 2016-11-16 深圳市金溢科技股份有限公司 UWB electronic tag and awakening method thereof and Vehicle positioning system
CN107886143A (en) * 2017-11-01 2018-04-06 阳光凯讯(北京)科技有限公司 Intelligent repository goods and materials orientation management system based on ultra wide band and Image Coding
CN107886022A (en) * 2017-11-01 2018-04-06 阳光凯讯(北京)科技有限公司 Intelligent repository goods and materials orientation management system based on ultra wide band and radio frequency identification
CN108471521A (en) * 2018-03-29 2018-08-31 苏州中科先进技术研究院有限公司 A kind of prison Visualized Monitoring System and method based on rhythm of the heart
CN108595919A (en) * 2018-04-24 2018-09-28 广州视源电子科技股份有限公司 Software activation method, device, system and storage medium
CN108389351A (en) * 2018-04-24 2018-08-10 成都恒高科技有限公司 Tag match, fence border control method, apparatus and storage medium
CN108877296A (en) * 2018-08-01 2018-11-23 江苏省送变电有限公司 A kind of collision avoidance system based on Internet of Things
CN109283565A (en) * 2018-09-21 2019-01-29 国网江苏省电力有限公司镇江供电分公司 Indoor and outdoor positioning system and method based on UWB fusion GPS and inertial navigation
CN109298394A (en) * 2018-09-25 2019-02-01 北京琛达射频识别技术有限公司 A kind of positioning floor, positioning system and localization method
WO2020126998A1 (en) * 2018-12-20 2020-06-25 Innogy Se Method for serving a product
CN109828608A (en) * 2019-02-19 2019-05-31 北京海益同展信息科技有限公司 A kind of equipment follower method based on UWB, device and system
CN210768240U (en) * 2019-04-12 2020-06-16 杭州中芯微电子有限公司 Positioning handcuffs and positioning handcuffs release system based on UWB ranging
CN210093571U (en) * 2019-04-30 2020-02-18 杭州路瑞科技有限公司 High-precision indoor positioning system based on ultra wide band UWB
CN109996175A (en) * 2019-05-15 2019-07-09 苏州矽典微智能科技有限公司 Indoor locating system and method
CN110148308A (en) * 2019-05-21 2019-08-20 北京百度网讯科技有限公司 Vehicle positioning system in parking garage
CN110366098A (en) * 2019-07-05 2019-10-22 北京海益同展信息科技有限公司 A kind of object localization method and the server for target positioning, base station
CN110599640A (en) * 2019-08-21 2019-12-20 杭州享钥科技有限公司 Personnel monitoring system based on millimeter wave radar
CN110543850A (en) * 2019-08-30 2019-12-06 上海商汤临港智能科技有限公司 Target detection method and device and neural network training method and device
CN110839203A (en) * 2019-12-03 2020-02-25 锐捷网络股份有限公司 Ultra-wideband-based label positioning method and device
CN111083642A (en) * 2019-12-10 2020-04-28 浩云科技股份有限公司 Method for positioning personnel in treasury
CN111091170A (en) * 2019-12-16 2020-05-01 南京申宁达智能科技有限公司 Site personnel management system and management method based on UWB positioning and millimeter wave imaging
CN111050287A (en) * 2019-12-20 2020-04-21 福州数据技术研究院有限公司 Low-power-consumption radio frequency identification positioning system and method thereof
CN110988829A (en) * 2019-12-27 2020-04-10 福建汉特云智能科技有限公司 Vehicle sensor calibration method and system based on UWB positioning
CN111624593A (en) * 2020-06-10 2020-09-04 北交智慧科技有限公司 Positioning system and positioning method for rail vehicle
CN112097764A (en) * 2020-09-09 2020-12-18 杭州中芯微电子有限公司 Personnel positioning system based on low-frequency trigger mode

Non-Patent Citations (8)

* Cited by examiner, † Cited by third party
Title
"《电讯技术》2010年第50卷总目次", 电讯技术, no. 12 *
"《通信技术》杂志2019年总目次", 通信技术, no. 12 *
"2009年《微波学报》总目次", 微波学报, no. 06 *
"第十一卷分类索引", 科学技术与工程, no. 36 *
何雪锋;: "超宽带厘米级实时定位技术在监狱管理中的应用", 测绘通报, no. 12 *
刘世森;: "基于UWB和RFID相融合的矿井人员定位系统设计", 自动化仪表, no. 08 *
梁翼: "基于毫米波雷达及深度学习视觉信息融合的前方车辆检测方法研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 *
黄元龙: "超宽带电子标签技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112929815A (en) * 2020-12-29 2021-06-08 杭州中芯微电子有限公司 Escort positioning equipment and escort positioning system based on UWB ranging
CN112929815B (en) * 2020-12-29 2023-08-15 杭州中芯微电子有限公司 Escort positioning equipment and escort positioning system based on UWB range finding
US11704509B2 (en) 2021-07-28 2023-07-18 Samsung Electronics Co., Ltd. Method and electronic device for dynamically associating UWB tag with object
CN113739790A (en) * 2021-11-02 2021-12-03 亿慧云智能科技（深圳）股份有限公司 Passive indoor positioning system and positioning method

Also Published As

Publication number Publication date
CN112098985B (en) 2024-04-12

Similar Documents

Publication Publication Date Title
CN112098985A (en) UWB positioning method based on millimeter wave detection
CN112097764B (en) Personnel positioning system based on low-frequency triggering mode
US11244559B2 (en) Multi-sensor electronic device with wireless connectivity and sensing as a service platform and web application
US9642089B2 (en) Method and system for planar, multi-function, multi-power sourced, long battery life radio communication appliance
CA2103504A1 (en) Location system
CN202708606U (en) A multifunctional flashlight
CN202997615U (en) Mobile power supply having function of wireless monitoring
US20170338848A1 (en) Method and system for planar, multi-function, multi-power sourced, long battery life radio communication appliance
CN214846277U (en) Multisensor intelligence wrist-watch based on loRa and UWB technique
TWM566595U (en) Treadmill and monitoring system thereof
CN109699012A (en) Unattended ground transaucer system and its communication means and self-organized network communication module
CN110853271A (en) Unattended battlefield monitoring subsystem
CN106791701A (en) Power circuit positions patrol instrument
EP3450842A1 (en) Handheld illuminating device with a monitoring function
CN207884889U (en) A kind of positioning tracker based on LORA wireless communication techniques
CN205677387U (en) A kind of intelligent lock
CN112160656B (en) Escorting positioning equipment based on thermopile infrared detection and control method thereof
CN105070023B (en) A kind of wireless sensor network device and operation method collecting sensor
CN207202445U (en) A kind of intelligent and safe knapsack
KR102158048B1 (en) Detachable Wearable Device Including Flexible Patch
CN215423149U (en) Intelligent hand ring
CN109115342A (en) A kind of portable hand-held infrared radiation detection apparatus
RU124423U1 (en) OPTICAL RADIO ELECTRONIC SEAL
CN107467863A (en) A kind of intelligent and safe knapsack
CN214475162U (en) Positioning attendance device for construction site

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant