CN112612000A - Intelligent configuration platform suitable for rapidly laying UWB positioning system - Google Patents
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Abstract
The invention provides an intelligent configuration platform suitable for rapidly laying a UWB positioning system, which comprises a data acquisition module, a data preprocessing module, a time slot automatic allocation module and a base station coordinate calculation module base station, wherein the data acquisition module, the data preprocessing module, the time slot automatic allocation module and the base station coordinate calculation module base station are sequentially connected according to a flow mode of base station configuration to form an intelligent integrated configuration platform and are all deployed on a cloud server or a local server; the data acquisition module acquires communication data between the base stations through a network; the data preprocessing module classifies and arranges the original communication data acquired by the data acquisition module; the time slot automatic allocation module performs time slot automatic allocation on all base stations through a centralized time slot allocation algorithm; and the base station coordinate calculating module calculates the coordinate value of each base station according to the information processed by the data preprocessing module, and automatically writes the calculation result into the corresponding base station.
Description
Technical Field
The invention relates to the technical field of wireless positioning, in particular to an intelligent configuration platform suitable for rapidly laying a UWB positioning system.
Background
With the rapid development of mobile communication technology, people increasingly demand positioning and navigation. Currently, the main indoor wireless positioning technologies are: compared with other positioning technologies, the ultra-wideband positioning technology has the advantages of high positioning precision, strong stability, good multipath resistance effect, low transmitting power, small radiation quantity and the like, and is very suitable for indoor positioning. As the demand for indoor positioning is increasing, manufacturers developing indoor positioning systems based on Ultra Wide-Band (UWB) technology are also increasing, and the main implementation manner is based on tof (time Of flight) and tdoa (time difference Of arrival), but no matter which manner is adopted, in order to perform the positioning function, the UWB base station must be laid in advance and then configured in a related manner. The existing base station configuration method is to manually measure and then manually input configuration parameters, under the condition of large system scale, the configuration work of the base station occupies most of labor cost, and the manual input configuration is easy to generate errors, so that the system debugging workload is increased. However, no intelligent special platform capable of completely covering the configuration process of the base station of the wireless positioning system exists in the current product, whether researched and developed from documents or from the market.
Therefore, it is necessary to provide an intelligent configuration platform suitable for rapidly laying out a UWB positioning system, which solves various problems of the existing manual configuration, thereby implementing an intelligent dedicated platform that completely covers the whole process of base station configuration of a wireless positioning system.
Disclosure of Invention
The invention provides an intelligent configuration platform suitable for rapidly laying a UWB positioning system, which solves various problems existing in the existing manual configuration, thereby realizing an intelligent special platform which completely covers the whole process of wireless positioning system base station configuration, simultaneously reducing the labor cost and improving the configuration efficiency.
In order to solve the technical problem, the technical scheme of the invention is realized as follows: the intelligent configuration platform suitable for rapidly laying the UWB positioning system comprises a data acquisition module, a data preprocessing module, a time slot automatic allocation module and a base station coordinate calculation module base station, wherein the data acquisition module, the data preprocessing module, the time slot automatic allocation module and the base station coordinate calculation module base station are sequentially connected according to a flow mode of base station configuration to form an intelligent integrated configuration platform and are all deployed on a cloud server or a local server; the data acquisition module is used for acquiring communication data between the base station and the base station through a network;
the data preprocessing module is used for classifying and sorting the original communication data acquired by the data acquisition module;
the time slot automatic allocation module is used for automatically allocating time slots for all base stations in the intelligent configuration platform which is suitable for rapidly laying the UWB positioning system through a centralized time slot allocation algorithm;
and the base station coordinate calculating module is used for calculating to obtain the coordinate value of each base station according to the information processed by the data preprocessing module and automatically writing the calculating result into the corresponding base station.
By adopting the technical scheme, the four modules form an intelligent and integrated platform according to a flow mode configured by the base station, are deployed on a cloud server or a local server and are used by a user remotely or locally as a base station configuration tool of the ultra-wideband wireless positioning system; the data acquisition module mainly obtains many-to-many ranging information between base stations through a network, namely ranging is carried out between the base stations in an effective communication range through TOF (time of flight), and obtained related data are transmitted to the data acquisition module of the intelligent configuration platform suitable for rapidly laying the UWB positioning system through the network; the data preprocessing module is used for sorting and sorting, and then the time slot allocation of the base station, the automatic calculation of the coordinates of the base station and the clock synchronization of the base station are carried out, so that the integrated configuration of the base station of the ultra-wideband wireless positioning system is realized.
As a preferred technical scheme of the invention, the intelligent configuration platform suitable for rapidly laying the UWB positioning system also comprises a base station clock synchronization module, wherein the clock synchronization module is used for selecting and controlling a base station clock synchronization structure after the base station coordinate calculation is finished when the wireless positioning system adopts the TDOA positioning principle.
By adopting the technical scheme, the data acquisition module is used for acquiring communication data among the base stations through a network; the data preprocessing module is used for classifying and sorting the acquired original data; the time slot automatic allocation module is used for automatically allocating time slots for all base stations in the intelligent configuration platform which is suitable for rapidly laying the UWB positioning system through a time slot allocation algorithm; the base station coordinate calculating module is used for calculating the coordinate value of each base station by utilizing the collected base station related information; the base station clock synchronization module is used for selecting and controlling a base station clock synchronization structure in the intelligent configuration platform suitable for rapidly laying the UWB positioning system, and the five modules form an intelligent and integrated platform according to a flow mode of base station configuration, are deployed on a cloud server or a local server and are used by a user remotely or locally and serve as a base station configuration tool of the UWB wireless positioning system.
As a preferred technical scheme of the invention, the mode of collecting the communication data between the base stations by the data collection module is network packet capturing, the base stations are communicated with each other by a TOF many-to-many protocol to obtain the relevant data of the base stations, and then the network packets are formed and transmitted to the intelligent configuration platform suitable for rapidly laying the UWB positioning system in a wired or wireless mode; the data of the network packet transmitted by the base station comprises: the system comprises a packet sequence number, a ranging frame sequence number, a source base station ID, a target base station ID, a distance value and a first path signal strength stability, wherein original communication data acquired by a data acquisition module are stored in a local database and checked and extracted through corresponding condition indexes.
As a preferred technical scheme of the invention, the method for configuring the intelligent configuration platform suitable for rapidly laying the UWB positioning system comprises the following specific steps:
s1: the data acquisition module acquires communication data between the base stations in a network packet capturing mode, and transmits the acquired communication data to the data preprocessing module and a server of an intelligent configuration platform suitable for rapidly laying a UWB positioning system for storage;
s2: the data preprocessing module classifies and arranges the original communication data acquired by the data acquisition module; obtaining a one-hop matrix C, a two-hop matrix B and a base station one-hop distance matrix D of a base station communication network;
s3: the time slot automatic allocation module performs time slot automatic allocation on all base stations in the intelligent configuration platform suitable for rapidly laying the UWB positioning system through a centralized time slot allocation algorithm; the time slot allocation algorithm realizes conflict-free automatic allocation of two-hop time slots of the base station by utilizing the one-hop matrix C and the two-hop matrix B;
s4: the base station coordinate calculating module calculates the coordinate value of each base station by using the acquired base station related information; then, the inside of the module calls a base station coordinate calculation algorithm to obtain coordinates of all base stations in the system according to the connectivity of the base stations and the distance between every two base stations, namely a one-hop distance matrix D; after the coordinate calculation of the base station is completed, the coordinate calculation is automatically written into the corresponding base station; if the wireless positioning system adopts the positioning principle of TOF, the base station configuration stage is finished.
As a preferred technical solution of the present invention, the method for configuring an intelligent configuration platform suitable for rapidly deploying a UWB positioning system further includes step S5: if the wireless positioning system adopts the TDOA positioning principle, the base station configuration also needs to complete the clock synchronization function, namely a base station clock synchronization module of the platform needs to be started; the base station clock synchronization module selects and controls a base station clock synchronization structure in an intelligent configuration platform suitable for rapidly laying the UWB positioning system through a clock synchronization algorithm to realize clock synchronization, so that the integrated configuration of the UWB wireless positioning system base station is realized.
As a preferred technical solution of the present invention, the step S2 includes the following steps:
s21: firstly, obtaining the total number of the base stations distributed by the wireless positioning system by de-duplicating the ID of the source base station and the ID of the target base station;
s22: then, the target base station ID is used as an index to obtain a corresponding neighbor base station ID and information of the neighbor base station ID and the neighbor base station including a distance value, a communication packet loss rate and a first path signal strength stability;
s23: and then, a one-hop matrix C, a two-hop matrix B and a one-hop distance matrix D of the base station network are constructed based on the information obtained in step S22.
As a preferred technical solution of the present invention, the time slot allocation algorithm adopted in step S3 is a classic TDMA scheduling algorithm, which includes one or more combinations of a homogeneous domain annealing algorithm, a sequential vertex coloring algorithm, a genetic algorithm, a local search algorithm, and a particle swarm algorithm. The time slot automatic allocation module automatically allocates time slots to all base stations in the intelligent configuration platform suitable for rapidly laying the UWB positioning system through a time slot allocation algorithm, the time slot allocation algorithm utilizes a one-hop matrix C and a two-hop matrix B to achieve automatic allocation of conflict-free two-hop time slots of the base stations, the algorithm can adopt classical TDMA scheduling algorithms and combinations thereof such as a homogeneous domain annealing algorithm, a sequential vertex coloring algorithm, a genetic algorithm, a local search algorithm, a particle swarm algorithm and the like, an engineer can automatically complete allocation of the time slots of the base stations only by starting a time slot allocation button platform, then the allocated values are automatically written into the corresponding base stations, compared with the situation that whether two-hop conflict happens or not is judged by the engineer during manual configuration, the accuracy is further improved, and meanwhile the working efficiency is also improved. When the technical scheme adopts a sequential vertex coloring algorithm to realize the allocation of the time slots, the specific method comprises the following steps:
s31: inputting the sequence of the base stations, and arranging the base stations in an ascending order according to the number of neighbors of the two-hop nodes; initializing a time slot M as 0;
s32: the base stations are sequentially taken out, and a first base station is taken out firstly;
s33: checking whether the base station can insert in the existing M time slots without interference by two hops;
s34: if the insertion can be carried out, inserting the base station into a corresponding time slot; otherwise, a new time slot is added to the base station, namely M is M + 1;
s35: if the base stations are not taken out in sequence, taking out the next base station, and going to step S33; otherwise, ending the algorithm and outputting a time slot distribution list.
As a preferred technical solution of the present invention, the base station coordinate calculation algorithm adopted in step S4 includes a multidimensional scaling (MDS) algorithm and a convex optimization algorithm based on semi-definite programming (SDP), wherein the multidimensional scaling adopts a classical metric multidimensional scaling algorithm. The multi-dimensional scale is realized by adopting a classic measurement multi-dimensional scale algorithm (CMDS), the MDS algorithm can calculate the position coordinates of all base stations without an anchor base station, but the coordinates are relative coordinates, can rotate and translate at will, and is suitable for one-key configuration of an independent and small-scale positioning system; the SDP algorithm can calculate the coordinates of other unknown position base stations only by few anchor base stations with known positions, the coordinate values obtained by the algorithm are absolute coordinates, the application of a third-party system based on the position can be fused, and the method is suitable for the base station configuration of a large-scale positioning system. And the inside of the module calls a corresponding algorithm to obtain the coordinates of all base stations in the system according to the connectivity of the base stations and the distance between every two base stations, namely a one-hop distance matrix D. After the base station coordinate calculation is completed, the base station coordinate calculation is automatically written into a corresponding base station, if the wireless positioning system adopts the positioning principle of TOF, the base station configuration stage is completed, and the target can be positioned; if the wireless location system adopts the TDOA location principle, the base station configuration also needs to complete the clock synchronization function, i.e. the base station clock synchronization module of the platform needs to be started.
The classic measurement positioning algorithm (CMDS) is most applied in the multidimensional scaling technology, and comprises the following specific steps:
s41: calculating the shortest distance between every two base stations to obtain a distance matrix delta;
s42: squaring each element in DeltaIs Δ(2)；
S43: will be delta(2)Performing double centralization to obtain a positive definite symmetric matrix F, namely:
wherein E isn×nIs an n-order identity matrix, en＝[1,1,...,1]1×n；
S44: performing singular value decomposition on the matrix F, and taking the maximum m eigenvalues (lambda)1、λ2、…、λm) Obtain corresponding m eigenvectors (w)1、w2、…、wm) (ii) a The m eigenvalues form an m-dimensional diagonal matrix Lambda, the m eigenvectors form an n × m-dimensional matrix V, and then the matrix formed by the base station coordinates is:
X0＝V*Λ1/2
wherein the content of the first and second substances,
as a mathematical optimization algorithm, the convex optimization theory has good global convergence characteristics, and can obtain a global optimal solution when solving an optimization problem, so that the convex optimization theory is widely applied to sensor network positioning. One of the more common methods is a positioning algorithm based on semi-definite programming (SDP), which is a problem of minimizing or maximizing a linear function (i.e., an objective function) under the condition of satisfying the constraint "affine combination of symmetric matrices and semi-definite", i.e., the positioning problem of the sensor network nodes can be described by using a minimization problem:
wherein, the total number of the base stations is N, the number of the base stations with known coordinates is m, aiCoordinate vector, x, representing base stations of known locationsiCoordinate vector representing unknown base station, one-hop neighbor base station (i, j) epsilon N1(i＜j)，dijRepresenting a distance measurement between base station i and base station j. Furthermore, it is assumed that the measurement error of the known base station is bounded, i.e. | | xi-ai||≤δ,i＝1,2,...,m，
The above minimization problem is a very complex non-convex problem, and is very difficult to solve, and the above problem is solved by relaxing the problem into a convex optimization problem by using the SDP relaxing technology.
As a preferred technical solution of the present invention, in the step S5, the base station clock synchronization module selects and controls a base station clock synchronization structure in an intelligent configuration platform suitable for rapidly laying a UWB positioning system through a clock synchronization algorithm, where the clock synchronization algorithm includes a structural clock synchronization algorithm or/and a distributed clock synchronization algorithm;
when a structural clock synchronization algorithm is adopted, the specific steps are as follows:
s5-1-1: appointing a root base station as a reference, and synchronizing the time of other base stations to the time reference of the root base station;
s5-1-2: establishing a base station synchronization structure according to the connectivity and the signal stability among the base stations to automatically determine the upper base station of the local base station, namely judging the quality of the communication of different source base stations corresponding to the same target base station according to the communication packet loss rate and the first path signal strength stability between the source base station ID and the target base station ID obtained by the data preprocessing module, thereby selecting the source base station with the excellent communication quality as the upper base station of the target base station with clock synchronization, and sequentially establishing a root-branch-leaf tree structure of the clock synchronization according to the criterion;
s5-1-3: starting a base station synchronization program, and sequentially carrying out synchronization processing by a structural clock synchronization algorithm according to the root-branch-leaf tree structure established in the step S5-1-2 so as to realize clock synchronization of the whole network;
when a distributed clock synchronization algorithm is adopted, the specific steps are as follows:
s5-2-1: setting synchronous time for judging when to carry out target positioning;
s5-2-2: and starting a base station synchronization program, and after the base station synchronization function is started and the set synchronization time is reached, the positioning system based on the TDOA can perform target positioning.
The structural clock synchronization algorithm is suitable for small-scale networks, the distributed clock synchronization algorithm is suitable for large-scale networks, and in the step S5-2-1 of the distributed clock synchronization algorithm, a period of time is needed from synchronous starting to synchronous stabilization due to the fact that the distributed clock synchronization has a convergence process, so that a proper time needs to be set.
Compared with the prior art, the invention has the following beneficial effects: the intelligent configuration platform suitable for rapidly laying the UWB positioning system realizes the allocation of the time slots of the base stations, the automatic calculation of the coordinates of the base stations and the clock synchronization of the base stations, realizes the integrated configuration of the base stations of the UWB wireless positioning system, is different from the original complex manual configuration, greatly shortens the engineering laying time, reduces the system labor cost, reduces the error rate of the manual configuration, facilitates the flexible adjustment of the system laying structure by customers, improves the acceptance of the customers, and is favorable for the popularization of products.
Drawings
Fig. 1 is a block diagram of an intelligent configuration platform suitable for rapidly deploying a UWB positioning system according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a positioning system based on an intelligent configuration platform suitable for rapidly laying out a UWB positioning system according to embodiment 2 of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the drawings of the embodiments of the present invention.
Example 1: as shown in fig. 1, the intelligent configuration platform suitable for rapidly laying out the UWB positioning system comprises a data acquisition module, a data preprocessing module, an automatic time slot allocation module and a base station coordinate calculation module base station, wherein the data acquisition module, the data preprocessing module, the automatic time slot allocation module and the base station coordinate calculation module base station are sequentially connected according to a flow mode of base station configuration to form an intelligent integrated configuration platform, and are all deployed on a cloud server or a local server;
the data acquisition module is used for acquiring communication data between the base station and the base station through a network;
the data preprocessing module is used for classifying and sorting the original communication data acquired by the data acquisition module;
the time slot automatic allocation module is used for automatically allocating time slots for all base stations in the intelligent configuration platform which is suitable for rapidly laying the UWB positioning system through a centralized time slot allocation algorithm;
the base station coordinate calculation module is used for calculating to obtain the coordinate value of each base station according to the information processed by the data preprocessing module and automatically writing the calculation result into the corresponding base station;
the intelligent configuration platform suitable for rapidly laying the UWB positioning system also comprises a base station clock synchronization module, wherein the clock synchronization module is used for selecting and controlling a base station clock synchronization structure after the base station coordinate is resolved when the wireless positioning system adopts the TDOA positioning principle; the data acquisition module acquires communication data between the base stations in a network packet capturing mode, the base stations are communicated with one another through a TOF many-to-many protocol to obtain base station related data, and the network packets are transmitted to the intelligent configuration platform suitable for rapidly laying the UWB positioning system in a wired or wireless mode; the data of the network packet transmitted by the base station comprises: the system comprises a packet sequence number, a ranging frame sequence number, a source base station ID, a target base station ID, a distance value and a first path signal strength stability, wherein original communication data acquired by a data acquisition module are stored in a local database and checked and extracted through corresponding condition indexes.
The method for configuring the intelligent configuration platform suitable for rapidly laying the UWB positioning system comprises the following specific steps:
s1: the data acquisition module acquires communication data between the base stations in a network packet capturing mode, and transmits the acquired communication data to the data preprocessing module and a server of an intelligent configuration platform suitable for rapidly laying a UWB positioning system for storage;
s2: the data preprocessing module classifies and arranges the original communication data acquired by the data acquisition module; obtaining a one-hop matrix C, a two-hop matrix B and a base station one-hop distance matrix D of a base station communication network;
the specific steps of step S2 are:
s21: firstly, obtaining the total number of the base stations distributed by the wireless positioning system by de-duplicating the ID of the source base station and the ID of the target base station;
s22: then, the target base station ID is used as an index to obtain a corresponding neighbor base station ID and information of the neighbor base station ID and the neighbor base station including a distance value, a communication packet loss rate and a first path signal strength stability;
s23: then, a one-hop matrix C, a two-hop matrix B and a one-hop distance matrix D of the base station network are constructed on the basis of the information obtained in the step S22;
s3: the time slot automatic allocation module performs time slot automatic allocation on all base stations in the intelligent configuration platform suitable for rapidly laying the UWB positioning system through a centralized time slot allocation algorithm; the time slot allocation algorithm realizes conflict-free automatic allocation of two-hop time slots of the base station by utilizing the one-hop matrix C and the two-hop matrix B;
the time slot allocation algorithm adopted in the step S3 is a classic TDMA scheduling algorithm, and includes one or more combinations of a homogeneous region annealing algorithm, a sequential vertex coloring algorithm, a genetic algorithm, a local search algorithm, and a particle swarm algorithm; the time slot automatic allocation module automatically allocates time slots to all base stations in the intelligent allocation platform suitable for rapidly laying the UWB positioning system through a time slot allocation algorithm, the time slot allocation algorithm utilizes a one-hop matrix C and a two-hop matrix B to realize conflict-free automatic allocation of two-hop time slots of the base stations, the algorithm can adopt classical TDMA scheduling algorithms such as a homogeneous domain annealing algorithm, a sequential vertex coloring algorithm, a genetic algorithm, a local search algorithm, a particle swarm algorithm and the like and a combination thereof, an engineer can automatically complete allocation of the time slots of the base stations only by starting a time slot allocation button platform, then the allocated values are automatically written into the corresponding base stations, and compared with manual allocation, the method judges whether two-hop conflict exists or not by the engineer, the accuracy is further improved, and meanwhile, the working efficiency is also improved;
when the technical scheme adopts a sequential vertex coloring algorithm to realize the allocation of the time slots, the specific method comprises the following steps:
s31: inputting the sequence of the base stations, and arranging the base stations in an ascending order according to the number of neighbors of the two-hop nodes; initializing a time slot M as 0;
s32: the base stations are sequentially taken out, and a first base station is taken out firstly;
s33: checking whether the base station can insert in the existing M time slots without interference by two hops;
s34: if the insertion can be carried out, inserting the base station into a corresponding time slot; otherwise, a new time slot is added to the base station, namely M is M + 1;
s35: if the base stations are not taken out in sequence, taking out the next base station, and going to step S33; otherwise, ending the algorithm and outputting a time slot distribution list;
s4: the base station coordinate calculating module calculates the coordinate value of each base station by using the acquired base station related information; then, the inside of the module calls a base station coordinate calculation algorithm to obtain coordinates of all base stations in the system according to the connectivity of the base stations and the distance between every two base stations, namely a one-hop distance matrix D; after the coordinate calculation of the base station is completed, the coordinate calculation is automatically written into the corresponding base station; if the wireless positioning system adopts the positioning principle of TOF, the base station configuration stage is finished;
the base station coordinate calculation algorithm adopted in the step S4 includes a multidimensional scaling (MDS) algorithm and a convex optimization algorithm based on semi-definite programming (SDP), wherein the multidimensional scaling adopts a classical metric multidimensional scaling algorithm; the multi-dimensional scale is realized by adopting a classic measurement multi-dimensional scale algorithm (CMDS), the MDS algorithm can calculate the position coordinates of all base stations without an anchor base station, but the coordinates are relative coordinates, can rotate and translate at will, and is suitable for one-key configuration of an independent and small-scale positioning system; the SDP algorithm can calculate the coordinates of other unknown position base stations only by few anchor base stations with known positions, the coordinate values obtained by the algorithm are absolute coordinates, the application of a third-party system based on positions can be fused, and the SDP algorithm is suitable for the base station configuration of a large-scale positioning system; and the inside of the module calls a corresponding algorithm to obtain the coordinates of all base stations in the system according to the connectivity of the base stations and the distance between every two base stations, namely a one-hop distance matrix D. After the base station coordinate calculation is completed, the base station coordinate calculation is automatically written into a corresponding base station, if the wireless positioning system adopts the positioning principle of TOF, the base station configuration stage is completed, and the target can be positioned; if the wireless positioning system adopts the TDOA positioning principle, the base station configuration also needs to complete the clock synchronization function, namely a base station clock synchronization module of the platform needs to be started;
the classic measurement positioning algorithm (CMDS) is most applied in the multidimensional scaling technology, and comprises the following specific steps:
s41: calculating the shortest distance between every two base stations to obtain a distance matrix delta;
s42: the squares of the respective elements in Δ are denoted as Δ(2)；
S43: will be delta(2)Performing double centralization to obtain a positive definite symmetric matrix F, namely:
wherein E isn×nIs an n-order identity matrix, en＝[1,1,...,1]1×n；
S44: performing singular value decomposition on the matrix F, and taking the maximum m eigenvalues (lambda)1、λ2、…、λm) Obtain corresponding m eigenvectors (w)1、w2、…、wm) (ii) a m eigenvalues form m-dimensional diagonal matrix Lambda, m eigenvectors form n multiplied by m-dimensional matrix V, and matrix formed by base station coordinatesComprises the following steps:
X0＝V*Λ1/2
wherein the content of the first and second substances,
as a mathematical optimization algorithm, the convex optimization theory has good global convergence characteristics, and can obtain a global optimal solution when solving an optimization problem, so that the convex optimization theory is widely applied to sensor network positioning; one of the more common methods is a positioning algorithm based on semi-definite programming (SDP), which is a problem of minimizing or maximizing a linear function (i.e., an objective function) under the condition of satisfying the constraint "affine combination of symmetric matrices and semi-definite", i.e., the positioning problem of the sensor network nodes can be described by using a minimization problem:
wherein, the total number of the base stations is N, the number of the base stations with known coordinates is m, aiCoordinate vector, x, representing base stations of known locationsiCoordinate vector representing unknown base station, one-hop neighbor base station (i, j) epsilon N1(i＜j)，dijRepresenting a distance measurement between base station i and base station j. Furthermore, it is assumed that the measurement error of the known base station is bounded, i.e. | | xi-ai||≤δ,i＝1,2,...,m，
The minimization problem is a very complex non-convex problem, is very difficult to solve, and is solved by relaxing the problem into a convex optimization problem by utilizing an SDP relaxation technology;
s5: if the wireless positioning system adopts the TDOA positioning principle, the base station configuration also needs to complete the clock synchronization function, namely a base station clock synchronization module of the platform needs to be started; the base station clock synchronization module selects and controls a base station clock synchronization structure in an intelligent configuration platform suitable for rapidly laying the UWB positioning system through a clock synchronization algorithm to realize clock synchronization, so that the integrated configuration of the UWB wireless positioning system base station is realized;
the base station clock synchronization module in the step S5 selects and controls a base station clock synchronization structure in an intelligent configuration platform suitable for rapidly laying the UWB positioning system through a clock synchronization algorithm, wherein the clock synchronization algorithm comprises a structural clock synchronization algorithm or/and a distributed clock synchronization algorithm;
when a structural clock synchronization algorithm is adopted, the specific steps are as follows:
s5-1-1: appointing a root base station as a reference, namely the base station has the highest synchronization level, and synchronizing the time of other base stations to the time reference of the root base station;
s5-1-2: establishing a base station synchronization structure according to the connectivity and the signal stability among the base stations to automatically determine the upper base station of the local base station, namely judging the quality of the communication of different source base stations corresponding to the same target base station according to the communication packet loss rate and the first path signal strength stability between the source base station ID and the target base station ID obtained by the data preprocessing module, thereby selecting the source base station with the excellent communication quality as the upper base station of the target base station with clock synchronization, and sequentially establishing a root-branch-leaf tree structure of the clock synchronization according to the criterion;
s5-1-3: starting a base station synchronization program, and sequentially carrying out synchronization processing by a structural clock synchronization algorithm according to the root-branch-leaf tree structure established in the step S5-1-2 so as to realize clock synchronization of the whole network;
when a distributed clock synchronization algorithm is adopted, the specific steps are as follows:
s5-2-1: setting synchronization time, wherein a convergence process exists in the synchronization of the distributed clocks, and a period of time is required from synchronous starting to synchronous stabilization, so that a proper time needs to be set for judging when to perform target positioning;
s5-2-2: and starting a base station synchronization program, and after the base station synchronization function is started and the set synchronization time is reached, the positioning system based on the TDOA can perform target positioning.
The structural clock synchronization algorithm is suitable for small-scale networks, and the distributed clock synchronization algorithm is suitable for large-scale networks. The structural clock synchronization algorithm is a description of a topological structure and corresponds to a distributed clock synchronization algorithm.
The intelligent configuration platform suitable for rapidly laying the UWB positioning system comprises the steps of allocating the time slot of the base station, calculating the coordinate of the base station and synchronizing the clock of the base station, and realizes the integrated configuration of the base station of the UWB wireless positioning system, and the intelligent configuration platform suitable for rapidly laying the UWB positioning system is combined with the intelligent configuration platform of the embodiment of the invention, as shown in figure 2, the three steps of the work of the UWB wireless positioning system are as follows: the layout, the configuration and the target positioning of the base stations can be further simplified, for example, the base stations are only required to be arranged at proper positions according to the condition of preliminary investigation in the base station layout stage, and the three-dimensional coordinate values of each base station are not required to be accurately measured and recorded one by one; in the base station configuration stage, a series of operations of base station configuration can be completed only by starting corresponding buttons step by step according to the flow, and then the positioning and tracking of a specific target can be performed. Compared with the prior configuration tool, the intelligent configuration platform applicable to rapidly laying the UWB positioning system can be used as an effective auxiliary tool of the UWB wireless positioning system, so that an engineer can rapidly and accurately set up the positioning system, the system client can more easily configure and adjust the system structure, and the market popularization of the UWB wireless positioning system and the reduction of the manual debugging cost are facilitated.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An intelligent configuration platform suitable for rapidly laying a UWB positioning system is characterized by comprising a data acquisition module, a data preprocessing module, a time slot automatic allocation module and a base station coordinate calculation module base station, wherein the data acquisition module, the data preprocessing module, the time slot automatic allocation module and the base station coordinate calculation module base station are sequentially connected according to a flow mode of base station configuration to form an intelligent integrated configuration platform and are all deployed on a cloud server or a local server;
the data acquisition module is used for acquiring communication data between the base station and the base station through a network;
the data preprocessing module is used for classifying and sorting the original communication data acquired by the data acquisition module;
the time slot automatic allocation module is used for automatically allocating time slots for all base stations in the intelligent configuration platform which is suitable for rapidly laying the UWB positioning system through a centralized time slot allocation algorithm;
and the base station coordinate calculating module is used for calculating to obtain the coordinate value of each base station according to the information processed by the data preprocessing module and automatically writing the calculating result into the corresponding base station.
2. The intelligent configuration platform for rapid deployment of UWB positioning systems of claim 1 further comprising a base station clock synchronization module, wherein the clock synchronization module is configured to select and control the base station clock synchronization structure after the resolving of the base station coordinates is completed when the wireless positioning system employs the TDOA positioning principle.
3. The intelligent configuration platform suitable for rapidly laying the UWB positioning system of claim 1 wherein the way of the data acquisition module acquiring the communication data between the base station and the base station is network packet capturing, the base station and the base station communicate with each other through a TOF many-to-many protocol to obtain the base station related data, and then the network packet is formed and transmitted to the intelligent configuration platform suitable for rapidly laying the UWB positioning system through a wired or wireless way; the data of the network packet transmitted by the base station comprises: the system comprises a packet sequence number, a ranging frame sequence number, a source base station ID, a target base station ID, a distance value and a first path signal strength stability, wherein original communication data acquired by a data acquisition module are stored in a local database and checked and extracted through corresponding condition indexes.
4. The intelligent configuration platform for rapidly deploying an UWB positioning system as recited in claim 3, wherein the method for configuring the intelligent configuration platform for rapidly deploying an UWB positioning system comprises the following specific steps:
s1: the data acquisition module acquires communication data between the base stations in a network packet capturing mode, and transmits the acquired communication data to the data preprocessing module and a server of an intelligent configuration platform suitable for rapidly laying a UWB positioning system for storage;
s2: the data preprocessing module classifies and arranges the original communication data acquired by the data acquisition module; obtaining a one-hop matrix C, a two-hop matrix B and a base station one-hop distance matrix D of a base station communication network;
s3: the time slot automatic allocation module performs time slot automatic allocation on all base stations in the intelligent configuration platform suitable for rapidly laying the UWB positioning system through a centralized time slot allocation algorithm; the time slot allocation algorithm realizes conflict-free automatic allocation of two-hop time slots of the base station by utilizing the one-hop matrix C and the two-hop matrix B;
s4: the base station coordinate calculating module calculates the coordinate value of each base station by using the acquired base station related information; then, the inside of the module calls a base station coordinate calculation algorithm to obtain coordinates of all base stations in the system according to the connectivity of the base stations and the distance between every two base stations, namely a one-hop distance matrix D; after the coordinate calculation of the base station is completed, the coordinate calculation is automatically written into the corresponding base station; if the wireless positioning system adopts the positioning principle of TOF, the base station configuration stage is finished.
5. The intelligent configuration platform for rapid deployment of UWB positioning systems of claim 4 wherein the method for configuring the intelligent configuration platform for rapid deployment of UWB positioning systems further comprises the step of S5: if the wireless positioning system adopts the TDOA positioning principle, the base station configuration also needs to complete the clock synchronization function, namely a base station clock synchronization module of the platform needs to be started; the base station clock synchronization module selects and controls a base station clock synchronization structure in an intelligent configuration platform suitable for rapidly laying the UWB positioning system through a clock synchronization algorithm to realize clock synchronization, so that the integrated configuration of the UWB wireless positioning system base station is realized.
6. The intelligent configuration platform for rapidly laying out an UWB positioning system according to claim 4, wherein the specific steps of the step S2 are as follows:
s21: firstly, obtaining the total number of the base stations distributed by the wireless positioning system by de-duplicating the ID of the source base station and the ID of the target base station;
s22: then, the target base station ID is used as an index to obtain a corresponding neighbor base station ID and information of the neighbor base station ID and the neighbor base station including a distance value, a communication packet loss rate and a first path signal strength stability;
s23: and then, a one-hop matrix C, a two-hop matrix B and a one-hop distance matrix D of the base station network are constructed based on the information obtained in step S22.
7. The intelligent configuration platform for rapidly laying out the UWB positioning system of claim 4 wherein the time slot allocation algorithm adopted in the step S3 is a classic TDMA scheduling algorithm, comprising one or more combination of a homogeneous domain annealing algorithm, a sequential vertex coloring algorithm, a genetic algorithm, a local search algorithm, and a particle swarm algorithm.
8. The intelligent configuration platform for rapidly laying out an UWB positioning system of claim 4 wherein the base station coordinate solution algorithm employed in the step S4 includes a multidimensional scaling (MDS) algorithm and a semi-definite programming (SDP) -based convex optimization algorithm, wherein the multidimensional scaling employs a classical metric multidimensional scaling algorithm.
9. The intelligent configuration platform for rapidly deploying UWB positioning systems according to claim 5, wherein the base station clock synchronization module in step S5 selects and controls the structure of the base station clock synchronization in the intelligent configuration platform for rapidly deploying UWB positioning systems through a clock synchronization algorithm, wherein the clock synchronization algorithm comprises a structured clock synchronization algorithm or/and a distributed clock synchronization algorithm;
when a structural clock synchronization algorithm is adopted, the specific steps are as follows:
s5-1-1: appointing a root base station as a reference, and synchronizing the time of other base stations to the time reference of the root base station;
s5-1-2: establishing a base station synchronization structure according to the connectivity and the signal stability among the base stations to automatically determine the upper base station of the local base station, namely judging the quality of the communication of different source base stations corresponding to the same target base station according to the communication packet loss rate and the first path signal strength stability between the source base station ID and the target base station ID obtained by the data preprocessing module, thereby selecting the source base station with the excellent communication quality as the upper base station of the target base station with clock synchronization, and sequentially establishing a root-branch-leaf tree structure of the clock synchronization according to the criterion;
s5-1-3: starting a base station synchronization program, and sequentially carrying out synchronization processing by a structural clock synchronization algorithm according to the root-branch-leaf tree structure established in the step S5-1-2 so as to realize clock synchronization of the whole network;
when a distributed clock synchronization algorithm is adopted, the specific steps are as follows:
s5-2-1: setting synchronous time for judging when to carry out target positioning;
s5-2-2: and starting a base station synchronization program, and after the base station synchronization function is started and the set synchronization time is reached, the positioning system based on the TDOA can perform target positioning.
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