CN112561019A - Low-power-consumption electronic tag based on UWB method and positioning method - Google Patents
Low-power-consumption electronic tag based on UWB method and positioning method Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/067—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components
- G06K19/07—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips
- G06K19/0701—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips at least one of the integrated circuit chips comprising an arrangement for power management
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/02—Power saving arrangements
- H04W52/0209—Power saving arrangements in terminal devices
- H04W52/0225—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal
- H04W52/0248—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal dependent on the time of the day, e.g. according to expected transmission activity
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- H—ELECTRICITY
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- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a low-power consumption electronic tag based on a UWB method and a positioning method, wherein the electronic tag is composed of a radio frequency transceiver module, an MEMS module, an ARM processor module and a power module, and simultaneously uses a low-power consumption technology, the ARM processor module controls the radio frequency transceiver module and the MEMS module to be in a sleep state for a long time, and periodically awakens the radio frequency transceiver module and the MEMS module to enter a normal working state so as to reduce power consumption; the electronic tags are deployed in a positioning system in an ultra-wideband mode, the signal flight time is calculated to complete data communication between the tags and the base station, a plurality of groups of ranging results are uploaded to a server, and finally the server is processed by using a least square method to store data to complete ultra-wideband positioning. Compared with the existing transformer substation positioning method, the method has the advantages of low power consumption, high positioning accuracy, persistent data storage and the like, and has strong practical significance.
Description
Technical Field
The invention relates to the field of substation inspection, in particular to a low-power-consumption electronic positioning tag and a positioning method based on a UWB (ultra Wide band) method, which are suitable for substation inspection personnel.
Background
With the development of the intelligent substation technology, the traditional substation has serious defects in the aspect of power transmission technology, and needs to be upgraded and modified urgently. In order to improve the safety of the intelligent substation in the transformation process, an automatic, high-precision and real-time monitoring system is necessary, and the real-time performance and effectiveness of supervision cannot be ensured only by using supervisors and monitoring videos. The monitoring system used by the existing transformer substation is divided into a wired method and a wireless method. The wired communication system has many disadvantages, such as high difficulty in laying a transmission line, difficulty in management and maintenance, and the like. Common wireless communication systems include wireless positioning technologies such as WiFi, RFID, ZigBee and CSS, but the positioning accuracy of the technologies is poor, and the application requirements are difficult to meet. The technology based on visual detection cannot achieve reliable safety control due to the fact that the technology is influenced by factors such as light, shielding and the like. At present, the research on influencing the wireless positioning technology in the environment of the transformer substation is still few.
Ultra Wide Band (UWB) is a new wireless communication technology, and according to the specifications of the federal communications commission in the united states, the operating Band of UWB is 3.1-10.6GHz, and the ratio of the system-10 dB bandwidth to the system center frequency is greater than 20% or the system bandwidth is at least 500 MHz. The generation of the UWB signal can be realized by modulating a narrow pulse (such as a secondary Gaussian pulse) with extremely short transmission time (such as 2ns) to a UWB working frequency band in an up-conversion mode such as differentiation or frequency mixing.
The ultra-wideband has the main advantages of low power consumption, insensitivity to channel fading (such as multipath and non-line-of-sight channels), strong anti-interference capability, no interference to other equipment in the same environment, strong penetrability (positioning can be performed in an environment penetrating through a brick wall), and very high positioning accuracy and positioning precision.
Although our country has certain achievements in research on UWB technology, most of the research is focused on the theoretical research stage in the laboratory, and mature products are few and the application range is narrow. Further, no research on the positioning project of the transformer substation inspection personnel by applying the UWB positioning technology is found.
Disclosure of Invention
Aiming at the defect of positioning accuracy of personnel in the existing transformer substation, the invention provides the low-power-consumption electronic tag based on the UWB method and the positioning method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a low-power consumption electronic tag based on a UWB method comprises a radio frequency transceiver module, an MEMS module, an ARM processor module connected with the radio frequency transceiver module and the MEMS module, and a power supply module connected with the radio frequency transceiver module, the MEMS module and the ARM processor module; the radio frequency transceiving module is used for sending and receiving UWB signals; the MEMS module is used for detecting the motion state information of the person or article wearing the low-power-consumption electronic tag and feeding the motion state information back to the ARM processor module; the ARM processor module is used for controlling the radio frequency transceiver module and the MEMS module to be in a sleep state for a long time and to be awakened periodically, adjusting the period for awakening the radio frequency transceiver module according to the motion state information, and controlling the ARM processor module to enter the sleep state and to be awakened periodically.
Further, the radio frequency module is connected with the ARM processor module through an SPI bus; the MEMS module passes through I2The C bus is connected with the ARM processor.
Further, the radio frequency transceiver module is a DW1000 chip and its peripheral circuits; the MEMS module is an MPU925 chip and peripheral circuits thereof; the ARM processor module is an STM32F411C low-power chip and surrounding circuits thereof.
Furthermore, the low-power-consumption electronic tag controls the radio frequency transceiver module and the MEMS module to be in a sleep state for a long time through the ARM processor module, and periodically wakes up the radio frequency transceiver module and the MEMS module to enter a normal working state so as to reduce power consumption.
Further, the low-power electronic tag communicates with a base station, and when the low-power electronic tag is in a receiving state of the base station, the low-power electronic tag receives and transmits signals with the base station through a UWB frequency band signal sent by a radio frequency receiving and transmitting module in the low-power electronic tag, wherein the frequency band is 3.5GHz-6.5 GHz.
A positioning method based on a low-power electronic tag adopts the low-power electronic tag based on the UWB technology, and comprises the following steps:
1) a transformer substation inspection worker wears a low-power-consumption electronic tag based on a UWB technology, the low-power-consumption electronic tag is communicated with deployed n base stations with known coordinates in an ultra-wideband mode, and the distances between the electronic tag and the n base stations are calculated according to the signal flight time;
2) uploading the ranging result of the electronic tag worn by the inspection personnel to a server for summarizing;
3) and the server completes ultra-wideband positioning by using a least square method according to the received ranging result.
Further, in step 1), the distances d between the electronic tag and the n base stations are calculated1,d2,d3,…dnThe method comprises the following steps:
di＝Δt·C
where, i is 1,2, …, n, Δ t is the signal flight time, and C is the speed of light.
Further, the step 3) is specifically as follows:
wherein (x)i，yi) Coordinates of the ith base station, diIndicating the distance between the tag and the ith base station; n equations exist, the first n-1 equations are respectively subtracted from the nth equation to obtain n-1 new equations, and the new equations are expressed as follows by using a matrix:
formula (2) is simplified as:
AX＝b (3)
wherein:
solving the formula (3) according to the least square method, and obtaining the positioning result as follows:
X＝(ATA)-1ATb (5)。
compared with the prior art, the invention has the following beneficial technical effects:
the low-power-consumption electronic tag is composed of a radio frequency transceiver module, an MEMS module, an ARM processor module and a power supply module, and simultaneously uses a low-power-consumption technology, the ARM processor module controls the radio frequency transceiver module and the MEMS module to be in a sleep state for a long time, and the radio frequency transceiver module and the MEMS module are awakened periodically to enter a normal working state, so that the power consumption is reduced.
According to the invention, the low-power-consumption electronic tag is deployed in the positioning system in an ultra-wideband mode, the signal flight time is calculated to complete data communication between the tag and the base station, a plurality of groups of ranging results are uploaded to the server, and finally the server is processed by using a least square method to store data to complete ultra-wideband positioning. Compared with the existing transformer substation positioning method, the method has the advantages of low power consumption, high positioning accuracy, persistent data storage and the like, and has strong practical significance.
Drawings
Fig. 1 is a schematic diagram of a low-power consumption electronic tag structure based on a UWB method.
FIG. 2 is a flow chart of a low power consumption electronic tag positioning method based on a UWB method.
Fig. 3 is a schematic diagram of a specific placement position according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides a low-power consumption electronic tag based on a UWB signal aiming at the defect of the precision of the positioning method of the inspection personnel of the existing transformer substation, and provides a least square method ultra-wideband positioning method based on the electronic tag.
Referring to fig. 1, the invention provides a low-power consumption electronic tag based on a UWB method, and the UWB positioning tag is mounted on a hat and a chest of a transformer substation patrol inspector and cooperates with a corresponding positioning base station and a positioning method to form a positioning system of a transformer substation.
The electronic tag includes: the system comprises a radio frequency transceiving module, an MEMS module, an ARM processor module connected with the radio frequency transceiving module and the MEMS module, and a power supply module connected with the radio frequency transceiving module, the MEMS module and the ARM processor module; the radio frequency transceiving module is used for sending and receiving UWB signals; the MEMS module is used for detecting the motion state information of the person or article wearing the low-power-consumption electronic tag and feeding the motion state information back to the ARM processor module; the ARM processor module is used for controlling the radio frequency transceiver module and the MEMS module to be in a sleep state for a long time and to be awakened periodically, adjusting the period for awakening the radio frequency transceiver module according to the motion state information, and controlling the ARM processor module to enter the sleep state and to be awakened periodically.
In the embodiment, the low-power consumption electronic tag based on the UWB method uses a radio frequency module which is connected with an ARM processor module through an SPI bus; the MEMS module used is connected with the ARM processor through an I2C bus.
In the embodiment, the used radio frequency transceiving module is a DW1000 chip and a peripheral circuit thereof, the DW1000 chip is a low-power consumption radio frequency transceiving chip which is produced by Decawave and is specially used for UWB technology, the chip conforms to IEEE802.15.4-2011 ultra wide band standard, and the minimum positioning accuracy error is within 10 centimeters; the used MEMS module is an MPU9250 chip and peripheral circuits thereof, a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer are integrated in the MPU9250, data interaction can be carried out with a singlechip through an integrated circuit bus (IIC) interface, and the transmission rate can reach 400 kHz/s. The highest angular velocity measurement range of the gyroscope can reach +/-2000 (DEG/S), the gyroscope has good dynamic response characteristics and high static measurement precision; the ARM processor module used includes STM32F411C low power consumption chip and its surrounding circuits. The STM32F411C controller provides an optimal balance between dynamic power consumption (run mode) and processing performance, with power consumption down to 10 μ Α in shutdown mode.
In the embodiment, the low power consumption method is that the ARM processor module controls the radio frequency transceiver module and the MEMS module to be in a sleep state for a long time, and periodically wakes up the radio frequency transceiver module and the MEMS module to enter a normal working state so as to reduce the power consumption.
In the embodiment, the positioning method includes that data acquisition is carried out for multiple times by using the electronic tag within a specified time, variance is obtained for the acquired data, and when the variance is smaller than a preset value, the electronic tag is judged to be in a stable positioning state. When the electronic tag is in a stable positioning state, the electronic tag enters a base station signal receiving state. And when the electronic tag enters a base station receiving state, the electronic tag receives the position signal sent by the base station, the position signal is sent back to the base station after the signal receiving is finished, and the base station counts the current positions of all the electronic tags.
Referring to fig. 2, when the method is used for routing inspection and positioning of the transformer substation, high positioning accuracy can be achieved, and high robustness on shielding of various obstacles is achieved. When the invention is deployed, the beacon nodes need to be laid in an environment to be positioned, deployment personnel need to measure and calculate the coordinates of the beacon nodes, and the beacon nodes can transmit data to a server through a TCP/IP protocol or other reliable communication modes. The tag is deployed with a pedestrian positioning navigation algorithm, and sends a message to the beacon node through ultra-wideband communication at the frequency of 1Hz, wherein the message comprises the result of the pedestrian positioning navigation algorithm, and the message and the beacon node complete a distance measurement algorithm based on signal flight time. All the data are gathered to the server, and the server deploys the main algorithm of the invention to complete high-precision positioning. In this process, the relevant setting data is shown in table 1.
Table 1 typical parameters of the invention at deployment
Example 1
In the embodiment, the low-power electronic tag based on the UWB method and the positioning algorithm designed in the present invention are used for the verification of the positioning accuracy. The test adopts a general framework based on 4 anchor nodes under a visibility environment (LOS), namely, a target node TN to be positioned moves along AN indoor corridor, 4 anchor nodes AN for transmitting ultra-wideband signals are arranged at the same height on two sides of the corridor, and the arrangement positions are shown in figure 3. The invention sets 2 groups of indoor positioning comparison experiments, and researches the indoor UWB positioning precision distribution rule by designing different positions of target nodes and arranging anchor nodes. Tables 1 and 2 show the measurement accuracy errors without and with the positioning algorithm of the invention. The test result shows that the positioning system has high positioning precision and small multipath influence.
TABLE 1 positioning error without the algorithm of the present invention
TABLE 2 positioning error using the algorithm of the present invention
Through practical tests, the low-power-consumption electronic tag provided by the invention periodically enters a working state by using a low-power-consumption technology so as to reduce power consumption, improves the positioning precision by using a UWB (ultra wide band) method, has greater advantages compared with the existing transformer substation positioning method, and has stronger practical significance.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. A low-power consumption electronic tag based on a UWB method is characterized by comprising a radio frequency transceiving module, an MEMS module, an ARM processor module connected with the radio frequency transceiving module and the MEMS module, and a power supply module connected with the radio frequency transceiving module, the MEMS module and the ARM processor module; the radio frequency transceiving module is used for sending and receiving UWB signals; the MEMS module is used for detecting the motion state information of the person or article wearing the low-power-consumption electronic tag and feeding the motion state information back to the ARM processor module; the ARM processor module is used for controlling the radio frequency transceiver module and the MEMS module to be in a sleep state for a long time and to be awakened periodically, adjusting the period for awakening the radio frequency transceiver module according to the motion state information, and controlling the ARM processor module to enter the sleep state and to be awakened periodically.
2. The UWB method based electronic tag of claim 1 wherein the radio frequency module is connected with the ARM processor module through an SPI bus; the MEMS module passes through I2The C bus is connected with the ARM processor.
3. The low-power consumption electronic tag based on the UWB method according to claim 1, wherein the radio frequency transceiver module is a DW1000 chip and its surrounding circuits; the MEMS module is an MPU925 chip and peripheral circuits thereof; the ARM processor module is an STM32F411C low-power chip and surrounding circuits thereof.
4. The UWB method based electronic tag of claim 1 wherein the low power electronic tag controls the RF transceiver module and the MEMS module to stay in a sleep state for a long time through the ARM processor module, and periodically wakes up the RF transceiver module and the MEMS module to enter a normal working state to achieve a reduction of power consumption.
5. The low-power electronic tag based on the UWB method according to claim 1, wherein the low-power electronic tag communicates with a base station, and when the low-power electronic tag is in a receiving state of the base station, the signal transmission and reception with the base station is a UWB frequency band signal transmitted by a radio frequency transmission and reception module in the low-power electronic tag, and the frequency band is 3.5GHz-6.5 GHz.
6. A positioning method based on a low-power electronic tag, which adopts the low-power electronic tag based on the UWB method of claim 1, characterized by comprising the following steps:
1) a transformer substation inspection worker wears a low-power-consumption electronic tag based on a UWB method, the low-power-consumption electronic tag is communicated with deployed n base stations with known coordinates in an ultra-wideband mode, and the distances between the electronic tag and the n base stations are calculated according to the signal flight time;
2) uploading the ranging result of the electronic tag worn by the inspection personnel to a server for summarizing;
3) and the server completes ultra-wideband positioning by using a least square method according to the received ranging result.
7. The positioning method based on low-power-consumption electronic tag as claimed in claim 6, wherein in step 1), the distances d between the electronic tag and n base stations are calculated1,d2,d3,…dnThe method comprises the following steps:
di＝Δt·C
where, i is 1,2, …, n, Δ t is the signal flight time, and C is the speed of light.
8. The positioning method based on the low-power-consumption electronic tag according to claim 6, wherein the step 3) is specifically as follows:
wherein (x)i，yi) Coordinates of the ith base station, diIndicating the distance between the tag and the ith base station; n equations exist, the first n-1 equations are respectively subtracted from the nth equation to obtain n-1 new equations, and the new equations are expressed as follows by using a matrix:
formula (2) is simplified as:
AX＝b (3)
wherein:
solving the formula (3) according to the least square method, and obtaining the positioning result as follows:
X＝(ATA)-1ATb (5)。
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114186656A (en) * | 2021-11-03 | 2022-03-15 | 杭州涂鸦信息技术有限公司 | Data receiving and sending control method of electronic tag, electronic tag and positioning system |
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