CN112509282A - United positioning monitoring method based on UWB positioning system and electronic Bluetooth bracelet - Google Patents
United positioning monitoring method based on UWB positioning system and electronic Bluetooth bracelet Download PDFInfo
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- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
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Abstract
The invention discloses a combined positioning monitoring method based on a UWB positioning system and an electronic Bluetooth bracelet, which is characterized in that Nrf52832 Bluetooth chips are loaded in a positioning tag and the electronic Bluetooth bracelet and are bound, one positioning tag is matched with the electronic Bluetooth bracelet, the positioning tag is fixed on a cap or clothes of a worker, the worker carries the positioning tag and wears the electronic Bluetooth bracelet, and then a manager can monitor the worker through the UWB positioning system and the electronic Bluetooth bracelet. According to the invention, the UWB positioning system and the electronic Bluetooth bracelet are organically combined together, so that joint positioning monitoring can be effectively carried out, the physical condition of enterprise workers can be monitored, the safety of the workers is guaranteed, the mode of alarming and reminding the enterprise workers is more convenient, or the unauthorized workers are prevented from intruding into or being prevented from approaching the electronic fence.
Description
Technical Field
The invention relates to the field of navigation positioning, in particular to a joint positioning monitoring method based on a UWB positioning system and an electronic Bluetooth bracelet.
Background
As an intensive production equipment enterprise, a power generation enterprise is complicated in production field and can generate danger by carelessness, so that safety management is very important. The traditional indoor wireless positioning system uses the technologies such as RFID, WiFi, Bluetooth and Zigbee, and roughly estimates the position of a tag based on a Received Signal Strength Indicator (RSSI), so that the positioning accuracy is low, the tag is easily interfered, the positioning stability is poor, and the tag is difficult to adapt to the requirement of high-precision wireless positioning application. With the continuous maturity of the positioning technology, the application range of the positioning technology is also continuously expanded, and the emerging positioning technology UWB (ultra wide band) has become the mainstream of the indoor positioning technology. The main scenes of indoor personnel positioning are concentrated on the admission and prohibition of personnel positions in the industrial field, accident rescue and personnel management and control. The main purpose is to ensure the safety of personnel. There is a growing need for personnel safety assurance.
The UWB positioning system comprises a positioning label, a positioning anchor point, an exciter, a communication base station and an application layer. Currently, 2 positioning algorithms are mainly used for the mainstream UWB positioning, namely a TOF algorithm and a tdoa (time Difference of arrival) algorithm. Wherein:
1. the TOF algorithm is as follows:
two-way time-of-flight (TW-TOF) each module generates a separate timestamp from start-up. The transmitter Ta1 of module a transmits a pulse signal of requesting nature on its time stamp, and module B transmits a signal of responding nature at the time Tb2, which is received by module a at the time of its own time stamp Ta 2. The time of flight of the pulse signal between the two modules can be calculated at times, so as to determine the flight distance S. S ═ C [ (Ta2-Ta1) - (Tb2-Tb1) ] (C is the speed of light), as shown in fig. 1;
the TOF algorithm belongs to a two-way ranging technology, and mainly measures the distance between nodes by using the flight time of a signal between two asynchronous transceivers (transceivers). Because the ranging method based on TOF is linear with distance under the condition of sight line of sight, the result is more accurate. Let us note the time interval between the data packet sent by the sending end and the response received as TTOT, and the time interval between the data packet received by the receiving end and the response sent as TTAT, then the time TTOF of the data packet in one-way flight in the air can be calculated as: TTOF ═ TTOT)/2, as shown in fig. 2;
then, according to the TTOF and the result of the electromagnetic wave propagation speed, the distance D between the two points is calculated to be C TTOF;
2. introduction of the TDOA algorithm:
the UWB positioning tag sends out a UWB signal once to the outside, all base stations in the wireless coverage range of the tag can receive the wireless signal, if the base stations with two known coordinate points receive the signal, and the distance between the tag and the two base stations is different, the time points of the two base stations receiving the signal are different;
the distance between the tag and different UWB positioning base stations is different, and the time nodes of different base stations receiving the same tag signal are different, so that a 'arrival time difference' is obtained;
the principle of TDOA positioning is to determine the position of a tag by using the time difference of signals received by a plurality of base stations; according to the mathematical relationship, the distance difference between two known points is constant, that is, the time difference between signals sent by the tag to two base stations is constant, and the position of the tag is always on a hyperbolic curve taking the two points as the focus. Then there are four known points (four positioning base stations) and there are four hyperbolas, where the intersection of the four hyperbolas at one point is the position of the UWB positioning tag, as shown in fig. 3;
the TDOA algorithm is specifically as follows:
suppose the time when the tag receives the UWB signal transmitted by the tag from the nth base station is ti (i is 1, 2, 3, 4.. n), and suppose the distance from the tag to the nth base station is ri (i is 1, 2, 3, 4.. n), as shown in fig. 4;
in the case of perfect synchronization between the base stations, the distance differences di 12-di 14 of the positioning tags with respect to four sets of positioning base stations (assuming 1#, 2# as the first set, 2#, 3# as the second set, 3#, 4# as the third set, and 4#, 1# as the fourth set) are:
di12＝r1-r2＝(t1-t2)×c
di23＝r2-r3＝(t2-t3)×c
di34＝r3-r4＝(t3-t4)×c
di14＝r1-r4＝(t1-t4)×c；
n base stations are distributed in the assumed space, a hyperbolic equation set related to the position of the tag can be formed by using a plurality of TDOA measured values, and the tag coordinate can be obtained by solving the equation set;
TDOA does not need to carry out reciprocating communication between a UWB positioning tag and a positioning base station, and only needs the positioning tag to transmit a UWB signal once, so that the working time is shortened, the power consumption is also greatly reduced, and higher positioning dynamic and positioning capacity can be realized.
The electronic Bluetooth bracelet is widely applied to the current life, and mainly comprises an MAX30102 heart rate blood oxygen, a detection module and an Nrf52832 Bluetooth chip. Wherein:
1. the MAX30102 heart rate oximetry and detection module is a module of an integrated pulse oximeter and heart rate monitor biosensor. It integrates a red LED and an infrared LED, a photodetector, an optical device, and a low noise electronic circuit with ambient light uniformity. MAX03102 adopts a 1.8V power and an independent 5.0V power that is used for inside LED, is applied to wearable equipment and carries out heart rate and blood oxygen and gathers the detection, wears in places such as finger, earlobe and wrist. The standard I2C compatible communication interface can transmit the collected numerical value to single-chip microcomputers such as Arduino, KL25Z and the like to perform heart rate and blood oxygen calculation. In addition, the chip can also be used for turning off the module through software, the standby current is close to zero, and the power supply can be always kept in a power supply state. Because of its excellent performance, the chip is widely used in mobile phones, and compared with the previous generation product MAX30100, the MAX30102 integrated glass cover can effectively eliminate external and internal light interference, and has the most reliable performance.
The traditional pulse measurement methods mainly include three methods:
1. extracting from the electrocardiosignals;
2. calculating a pulse from the fluctuation measured by the pressure sensor when measuring the blood pressure;
3. is a photoplethysmography. Both of the first two methods of extracting signals restrict the activity of a person and increase the physical and psychological discomfort of a person if used for a long time. The pulse measurement by the photoplethysmography is one of the most common methods in monitoring measurement, and the method is adopted, so that the method is simple and convenient to wear. High resistance and the like;
the basic principle of the photoplethysmography is to measure the pulse and the blood oxygen saturation by using the difference of the light transmittance caused by the pulsation of blood vessels of human tissues. The sensor used by the device consists of a light source and a photoelectric converter, the sensor is arranged on the wrist of a person through a bandage, and the light source generally adopts a light emitting diode (generally selects red light near 660nm and infrared light near 900 nm) with specific wavelength selective to oxyhemoglobin (Hb02) and hemoglobin (Hb) in arterial blood. When light beam penetrates through peripheral blood vessel of human body, the light transmittance of the light beam is changed due to blood congestion volume change of artery pulsation, and at the moment, the light reflected by human body tissue is received by the photoelectric transducer, converted into electric signal, amplified and output. Since the pulse is a signal that changes periodically with the pulsation of the heart, the arterial blood vessel volume also changes periodically, and the period of change of the electrical signal hiding the photoelectric transducer is the pulse rate.
2. The bluetooth chip Nrf52832 is a successor to Nrf51822, which brings the BLE SoC to a new height. This product results in higher performance, lower power consumption and more functionality. Upgraded from nRF51822/nRF51422, nRF51822 is a Bluetooth Low Energy SoC with a Cortex-M0 core and an operating frequency of 16 Mhz. The nRF52832 is the Cortex-M4F kernel and has larger RAM and Flash, more functionality, and better RF performance.
The advantages are that:
1. nRF52832 reduces power consumption by almost half on the basis of nRF 51822: 5.5mA for Active-mode RX, 5.5mA for Active-mode TX @0dBm, and 7.7mA for Active-mode TX @4 dBm;
2. the kernel of Cortex-M4F is provided, which can be used for stronger computing power and floating point computing technology. Very complex algorithms can be matched with wearable equipment or industrialized equipment which needs to be built in;
3. the space of Flash is improved to 400 KB;
4. support multiple protocols and switch automatically at runtime.
Along with the continuous deepening of power plant's demand, the power plant demand is more and more become more meticulous, need know the safety condition of personnel's work, and it is also difficult to satisfy this demand to lean on UWB positioning technology. And the electronic bluetooth bracelet is purely used for monitoring the health condition of people at home or outdoor exercises at ordinary times.
Disclosure of Invention
The invention aims to provide a joint positioning monitoring method based on a UWB positioning system and an electronic Bluetooth bracelet, which can monitor the physical condition of enterprise workers, ensure the safety of the workers and realize more convenient and faster alarm and reminding mode of the enterprise workers.
The purpose of the invention is realized as follows:
a joint positioning monitoring method based on a UWB positioning system and an electronic Bluetooth bracelet is characterized in that: the method comprises the following specific steps:
A. firstly, loading Nrf52832 Bluetooth chips in a positioning tag and an electronic Bluetooth bracelet and binding, wherein one positioning tag is matched with one electronic Bluetooth bracelet;
B. then fixing the positioning tag on a cap or clothes of a worker, wherein the worker carries the positioning tag and wears an electronic Bluetooth bracelet, and the electronic Bluetooth bracelet monitors and calculates the heart rate of the worker by using a MAX30102 heart rate blood oxygen and a detection module through a photoelectric volume method;
C. the electronic Bluetooth bracelet is in a dormant state by default, and when a manager needs to check the safety condition of a certain worker, a request sent by the manager is transmitted to a communication base station by operating an application layer in a UWB positioning system;
D. the communication base station transmits the request to the positioning tag, the positioning tag wakes up the electronic Bluetooth bracelet at the moment, and the electronic Bluetooth bracelet transmits the heart rate data of the worker at the moment to the positioning tag through Bluetooth;
E. the communication base station is given heart rate data transmission to the location label, and the communication base station gives UWB positioning system's application layer heart rate data transmission, and managers just can look over this staff's rhythm of the heart to judge whether this personnel are safe.
The positioning label in the step A is arranged in the name or logo of the enterprise.
Or, a joint positioning monitoring method based on UWB positioning system and electron bluetooth bracelet, the characteristic is: the method comprises the following specific steps:
A. firstly, loading Nrf52832 Bluetooth chips in a positioning tag and an electronic Bluetooth bracelet and binding, wherein one positioning tag is matched with one electronic Bluetooth bracelet;
B. then fixing the positioning tag on a cap or clothes of a worker, wherein the worker carries the positioning tag and wears the electronic Bluetooth bracelet, and the positioning tag is communicated with a positioning anchor point and an exciter in the UWB positioning system in real time to position the information of the worker;
C. a manager sets an electronic fence of a factory area on an application layer, and when the worker is not granted the authority of entering the electronic fence, the worker wants to approach the electronic fence or break into the electronic fence, at the moment, the application layer of the UWB positioning system triggers the alarm state of the worker and transmits alarm information to a communication base station through the application layer of the UWB positioning system;
D. the communication base station transmits the information to the positioning tag, and the positioning tag transmits the information to the electronic Bluetooth bracelet of the worker in a Bluetooth transmission mode;
E. this staff's electron bluetooth bracelet is awaken up, shakes and reminds to show alarm information, remind this staff to leave the fence immediately, thereby prevent that this staff from breaking into or preventing this staff to be close to the fence.
The positioning label in the step A is arranged in the name or logo of the enterprise.
According to the invention, the UWB positioning system and the electronic Bluetooth bracelet are organically combined together, so that joint positioning monitoring can be effectively carried out, the physical condition of enterprise workers can be monitored, the safety of the workers is guaranteed, the mode of alarming and reminding the enterprise workers is more convenient, or the unauthorized workers are prevented from intruding into or being prevented from approaching the electronic fence.
Thus, the present invention has the following advantages:
1. the method improves the condition that the UWB positioning system can only position personnel and can monitor the physical condition of the personnel at the important posts of the power generation enterprise or other enterprises in real time, and overcomes the defect that the physical condition of the personnel at the important posts of the power generation enterprise or other enterprises cannot be monitored in the past;
2. the mode of alarming and reminding enterprise workers is more convenient, and the safety of the enterprise workers is better guaranteed;
3. when monitoring personnel safety information, electron bluetooth bracelet power consumption is low, and stability is strong, and scalability is strong.
Drawings
FIG. 1 is a schematic illustration of a two-way time-of-flight method for determining flight distance;
FIG. 2 is a schematic illustration of a TOF ranging method to determine a flight distance;
FIG. 3 is a schematic diagram of the TDOA location principle;
FIG. 4 is a schematic diagram of the TDOA algorithm for determining the flight distance;
fig. 5 is a block flow diagram of the present invention.
The specific implementation mode is as follows:
the present invention will be described in further detail with reference to the following examples and drawings.
Example 1:
a joint positioning monitoring method based on a UWB positioning system and an electronic Bluetooth bracelet specifically comprises the following steps:
A. firstly, loading Nrf52832 Bluetooth chips in a positioning tag and an electronic Bluetooth bracelet and binding, wherein one positioning tag is matched with one electronic Bluetooth bracelet;
B. then fixing the positioning tag on a cap or clothes of a worker, wherein the worker carries the positioning tag and wears an electronic Bluetooth bracelet, and the electronic Bluetooth bracelet monitors and calculates the heart rate of the worker by using a MAX30102 heart rate blood oxygen and a detection module through a photoelectric volume method;
C. the electronic Bluetooth bracelet is in a dormant state by default, and when a manager needs to check the safety condition of a certain worker, a request sent by the manager is transmitted to a communication base station by operating an application layer in a UWB positioning system;
D. the communication base station transmits the request to the positioning tag, the positioning tag wakes up the electronic Bluetooth bracelet at the moment, and the electronic Bluetooth bracelet transmits the heart rate data of the worker at the moment to the positioning tag through Bluetooth;
E. the communication base station is given heart rate data transmission to the location label, and the communication base station gives UWB positioning system's application layer heart rate data transmission, and managers just can look over this staff's rhythm of the heart to judge whether this personnel are safe.
The positioning label in the step A is arranged in the name or logo of the enterprise.
Example 2:
a joint positioning monitoring method based on a UWB positioning system and an electronic Bluetooth bracelet specifically comprises the following steps:
A. firstly, loading Nrf52832 Bluetooth chips in a positioning tag and an electronic Bluetooth bracelet and binding, wherein one positioning tag is matched with one electronic Bluetooth bracelet;
B. then fixing the positioning tag on a cap or clothes of a worker, wherein the worker carries the positioning tag and wears the electronic Bluetooth bracelet, and the positioning tag is communicated with a positioning anchor point and an exciter in the UWB positioning system in real time to position the information of the worker;
C. a manager sets an electronic fence of a factory area on an application layer, and when the worker is not granted the authority of entering the electronic fence, the worker wants to approach the electronic fence or break into the electronic fence, at the moment, the application layer of the UWB positioning system triggers the alarm state of the worker and transmits alarm information to a communication base station through the application layer of the UWB positioning system;
D. the communication base station transmits the information to the positioning tag, and the positioning tag transmits the information to the electronic Bluetooth bracelet of the worker in a Bluetooth transmission mode;
E. this staff's electron bluetooth bracelet is awaken up, shakes and reminds to show alarm information, remind this staff to leave the fence immediately, thereby prevent that this staff from breaking into or preventing this staff to be close to the fence.
The positioning label in the step A is arranged in the name or logo of the enterprise.
Claims (4)
1. A joint positioning monitoring method based on a UWB positioning system and an electronic Bluetooth bracelet is characterized in that: the method comprises the following specific steps:
A. firstly, loading Nrf52832 Bluetooth chips in a positioning tag and an electronic Bluetooth bracelet and binding, wherein one positioning tag is matched with one electronic Bluetooth bracelet;
b. Then fixing the positioning tag on a cap or clothes of a worker, wherein the worker carries the positioning tag and wears an electronic Bluetooth bracelet, and the electronic Bluetooth bracelet monitors and calculates the heart rate of the worker by using a MAX30102 heart rate blood oxygen and a detection module through a photoelectric volume method;
C. the electronic Bluetooth bracelet is in a dormant state by default, and when a manager needs to check the safety condition of a certain worker, a request sent by the manager is transmitted to a communication base station by operating an application layer in a UWB positioning system;
D. the communication base station transmits the request to the positioning tag, the positioning tag wakes up the electronic Bluetooth bracelet at the moment, and the electronic Bluetooth bracelet transmits the heart rate data of the worker at the moment to the positioning tag through Bluetooth;
E. the communication base station is given heart rate data transmission to the location label, and the communication base station gives UWB positioning system's application layer heart rate data transmission, and managers just can look over this staff's rhythm of the heart to judge whether this personnel are safe.
2. The joint positioning monitoring method based on the UWB positioning system and the electronic Bluetooth bracelet of claim 1, characterized in that: the positioning label in the step A is arranged in the name or logo of the enterprise.
3. A joint positioning monitoring method based on a UWB positioning system and an electronic Bluetooth bracelet is characterized in that: the method comprises the following specific steps:
A. firstly, loading Nrf52832 Bluetooth chips in a positioning tag and an electronic Bluetooth bracelet and binding, wherein one positioning tag is matched with one electronic Bluetooth bracelet;
B. then fixing the positioning tag on a cap or clothes of a worker, wherein the worker carries the positioning tag and wears the electronic Bluetooth bracelet, and the positioning tag is communicated with a positioning anchor point and an exciter in the UWB positioning system in real time to position the information of the worker;
c. A manager sets an electronic fence of a factory area on an application layer, and when the worker is not granted the authority of entering the electronic fence, the worker wants to approach the electronic fence or break into the electronic fence, at the moment, the application layer of the UWB positioning system triggers the alarm state of the worker and transmits alarm information to a communication base station through the application layer of the UWB positioning system;
D. the communication base station transmits the information to the positioning tag, and the positioning tag transmits the information to the electronic Bluetooth bracelet of the worker in a Bluetooth transmission mode;
E. this staff's electron bluetooth bracelet is awaken up, shakes and reminds to show alarm information, remind this staff to leave the fence immediately, thereby prevent that this staff from breaking into or preventing this staff to be close to the fence.
4. The joint positioning monitoring method based on the UWB positioning system and the electronic Bluetooth bracelet of claim 3, characterized in that: the positioning label in the step A is arranged in the name or logo of the enterprise.
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Application publication date: 20210316 |