CN112799014A - Ultra-wideband positioning system and method based on ellipsoid intersection, wireless terminal and server - Google Patents
Ultra-wideband positioning system and method based on ellipsoid intersection, wireless terminal and server Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention discloses an ultra-wideband positioning method based on ellipsoid intersection, which utilizes three or more than three base stations as positioning signal sources and utilizes the principle of ellipse intersection to obtain real-time and accurate two-dimensional or three-dimensional position information of a target mobile terminal user. In the technical scheme, the base stations do not need to be provided with multiple antennas, and extra stay wire connection is not needed among the base stations; the technology of the patent is based on length information and is irrelevant to the distance between a mobile station and a base station in a signal coverage range; this patent technique does not need any time synchronization, has removed the time synchronization error, is of value to the positioning result, and positioning accuracy is high to can cover the large area, compare in traditional technique, the implementation method is simpler, and the positioning result is superior to traditional mode moreover.
Description
Technical Field
The present invention relates to wireless positioning systems, and more particularly, to an ultra-wideband positioning system and method.
Background
Positioning systems support our lives, and we all enjoy the benefits of location-based services. Meanwhile, the positioning technology is one of the core technologies applied in leading edges of unmanned driving, smart cities, internet of things, internet of vehicles and the like. Positioning based on GNSS has been successful greatly, and accurate positioning information can be obtained in outdoor open areas. In some places where there is a GNSS signal blockage, such as tall building standing streets, staggered overhead, increasingly complex tunnels, and our main moving indoor space, the position estimation still lacks a generally applicable, low-cost solution. Ultra Wideband (UWB) has gained high acceptance as a spatial location technology. The UWB technology utilizes ultra-wide baseband pulses with extremely wide frequency spectrum for communication, and is also called a baseband communication technology and a wireless carrier communication technology, and has the advantages of high data transmission rate, strong multipath interference resistance, low power consumption, strong penetration capability, low interception rate, and the like.
Based on ultra-wideband, the traditional positioning techniques are AoA (Angle of Arrival), ToA (Time of Arrival), or TDoA (Time Difference of Arrival). The AoA positioning technology is to obtain the angle value of the label signal reaching each base station and to perform positioning through angle intersection. Multiple antennas are required to be equipped for equipment adopting the AoA positioning technology, so that the hardware cost is high; when the distance between the mobile terminal and the base station is relatively long, even a slight error of the positioning angle will cause a relatively large deviation of the positioning distance, and it is difficult to cover a large range. The ToA positioning technology is to obtain the arrival time of signals between a tag and a base station, convert the arrival time into distance values to each base station, and perform intersection positioning through circles. However, the simple ToA requires that the transmitting device and the receiving device always maintain nanosecond-level time synchronization, and the high-precision time synchronization cannot be achieved in many communication systems. The TDoA positioning technology is to obtain the time difference of the arrival of signals at each base station, convert the time difference into the distance difference, and perform positioning through hyperbolic intersection. The TDOA is located based on time difference of arrival, and also needs precise time synchronization function, but only needs to be realized among base stations, and the base stations are fixed, so the application is wide. However, if the synchronization is wired, hardware cost and construction cost are increased, and if the synchronization is wireless, synchronization accuracy is lower, so that positioning accuracy is lower.
Therefore, the ultra-wideband-based positioning technology has certain defects, and further improvement on the ultra-wideband positioning technology is needed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to design an ultra-wideband positioning method with high precision and low cost.
An ultra-wideband positioning method based on ellipsoid intersection comprises the following steps: 1) selecting at least three base stations with known position coordinates as a positioning signal source, and combining the selected base stations into at least three base station groups in pairs; 2) two base stations in each base station group sequentially communicate with a target mobile terminal, and the total distance of signals in the base station group sequentially transmitted between the two base stations and the target mobile terminal is calculated according to the time difference between the signals transmitted by the starting base station and the signals received by the starting base station; 3) and calculating the position coordinate of the target mobile terminal according to the known coordinates of the two base stations in each base station group and the corresponding total distance in the step 2).
Preferably, the distance sum in step 2) is calculated by: firstly, an initial base station sends a data packet to a middle base station and records a timestamp, another base station immediately sends the data packet to a target mobile terminal after receiving the data packet, the target mobile terminal immediately sends the data packet to the initial base station after receiving the data packet, and the initial base station records the timestamp Tr after receiving the data packet, so that the method comprises the following steps: (T)r-Td) C is a propagation velocity of the electromagnetic wave in the air, and is a constant.
Preferably, the base station as the positioning signal source has an automatic networking function, and different base stations have signal automatic calibration and communication functions.
Preferably, the spatial three-dimensional coordinate, the horizontal plane two-dimensional coordinate, the vertical plane two-dimensional coordinate, the one-dimensional coordinate, and the mileage information may be acquired according to the position coordinate of the target mobile terminal.
The patent also discloses a system for realizing the positioning method, which comprises: the base stations are combined pairwise to be divided into at least three base station groups; a target mobile terminal; the communication module is used for enabling two base stations in each base station group to sequentially communicate with the target mobile terminal, and calculating the total distance of signals in the base station group sequentially transmitted between the two base stations and the target mobile terminal according to the time difference between the signals transmitted by the starting base station and the signals received by the starting base station; and the calculating module is used for calculating the position coordinate of the target mobile terminal according to the known coordinates and the corresponding total distance of the two base stations in each base station group.
Preferably, the target mobile terminal is a mobile intelligent terminal, a bracelet, a tracker, an embedded module, an intelligent robot or an industrial sensor device.
Preferably, a WiFi module is provided on the base station.
Preferably, the system also comprises an ad hoc network function module, wherein the ad hoc network function module can realize that the base station serving as a positioning signal source has automatic networking, so that different base stations have automatic signal calibration and communication functions.
The patent also discloses a wireless terminal and a server which can adopt the above mode.
The patent technology provides a brand new positioning method, which obtains TDoDR (Time Difference of reception and transmission) observed quantity by changing the communication sequence between base stations and mobile stations, and can obtain real-Time accurate two-dimensional or three-dimensional position information of a target mobile terminal user by using three or more base stations as positioning signal sources. In the technical scheme, the base stations do not need to be provided with multiple antennas, and extra stay wire connection is not needed among the base stations; the technology of the patent is based on length information and is irrelevant to the distance between a mobile station and a base station in a signal coverage range; this patent technique does not need any time synchronization, has removed the time synchronization error, is of value to the positioning result, and positioning accuracy is high to can cover the large area, compare in traditional technique, the implementation method is simpler, and the positioning result is superior to traditional mode moreover.
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Fig. 1 is a schematic diagram of communication in the same base station group according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of positioning performed by three embodiments of the base station of the present invention.
Fig. 3 is a schematic diagram of positioning performed by four embodiments of the base station of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
The patent discloses an ultra-wideband positioning method based on ellipsoid intersection, which specifically comprises the following steps:
1) as shown in fig. 1, three base stations A, B, C with known position coordinates are selected as positioning signal sources, and the selected base stations A, B, C are grouped into at least three base station groups, where a base station A, B is a base station group, a base station A, C is a base station group, and a base station C, B is a base station group;
2) and two base stations in each base station group sequentially communicate with the target mobile terminal T, and the total distance of the signals in the base station group sequentially transmitted between the two base stations and the target mobile terminal is calculated according to the time difference between the signals transmitted by the starting base station and the signals received by the starting base station. As shown in fig. 2, taking a base station group including a base station A, B as an example, when calculating a total distance D in the base station group, first, the starting base station a sends a data packet to the middle base station B, records a time stamp Td, the middle base station B sends the data packet to the target mobile terminal T immediately after receiving the data packet, the target mobile terminal T sends the data packet to the starting base station a immediately after receiving the data packet, and the starting base station a records the time stamp Tr after receiving the data packet, that is: (T)r-Td) C ═ D, where c is the propagation speed of electromagnetic waves in airDegree, is a constant. The signal transmission sequence may be changed as required, for example, the signal is first transmitted to the target mobile terminal T, then to the intermediate base station B, and then to the starting base station a by the intermediate base station B.
3) Calculating the position coordinates of the target mobile terminal according to the known coordinates of the two base stations in each base station group and the corresponding total distance D, as shown in FIG. 2, the distance between the two base stations is Dis1Distance between base station A and target mobile terminal is Dis3Distance between base station B and target mobile terminal is Dis2D is Dis1+Dis2+Dis3Thus, it can be deduced that:
(Tr-Td)·c＝Dis1+Dis2+Dis3
since the coordinates of the base station A, B are known, Dis1The value of (c) can be calculated, so that:
Dis2+Dis3＝(Tr-Td)·c-Dis1
from the first definition of an ellipse, it can be seen that the target mobile terminal T must be on an ellipse with the two base stations A, B as the focal points. Thus, through the calculation of the three base station groups, it can be deduced that the target mobile terminal T is at the intersection of the three ellipses (as shown in fig. 1).
Assume that the coordinates of the four base stations A, B, C are all known parameters, respectively
CoorA(XA YA ZA)CoorB(XB YB ZB)CoorC(XC YC ZC)
From the above, we propose a positioning scheme to obtain the sum of the distances from the mobile station to each base station
Distance sum (Dis) of mobile station to base station A, BA+DisB) Is recorded as SoDAB
Distance sum (Dis) of mobile station to base station B, CB+DisC) Is recorded as SoDBC
Distance sum (Dis) of mobile station to base station C, AC+DisA) Is recorded as SoDAC
Let the three-dimensional coordinates of the mobile station be CoorTag (x y z), and then set the equations together
In the above equation set, except that the target mobile terminal coordinate coortag (x y z) is an unknown number, the other numbers are known quantities, and the position coordinate of the target mobile terminal can be solved to determine the position of the target mobile terminal. In this example, the number of base stations may be three or more, and as shown in fig. 3, 4 base stations are provided, and the coordinates of the four base stations A, B, C, D are assumed to be known parameters, which are CoorA (X) respectivelyA YA ZA)CoorB(XB YB ZB)CoorC(XC YC ZC)CoorD(XD YD ZD)
From the above, we propose a positioning scheme to obtain the sum of the distances from the mobile station to each base station
Distance sum (Dis) of mobile station to base station A, BA+DisB) Is recorded as SoDAB
Distance sum (Dis) of mobile station to base station B, CB+DisC) Is recorded as SoDBC
Distance sum (Dis) of mobile station to base station C, DC+DisD) Is recorded as SoDCD
Let the three-dimensional coordinates of the mobile station be CoorTag (x y z), and then set the equations together
The coordinates can be set according to system requirements, if z is also a known quantity, namely only the two-dimensional coordinate of the target mobile terminal is considered as coortag (x y), and similarly, the three-dimensional space coordinate, the two-dimensional horizontal plane coordinate, the two-dimensional vertical plane coordinate, the one-dimensional coordinate and the mileage information can be obtained according to the position coordinate of the target mobile terminal.
In order to ensure the consistency of the signal time stamps, the base station serving as a positioning signal source has an automatic networking function, and different base stations have automatic signal calibration and communication functions.
The patent also discloses a system for realizing the positioning method, which comprises:
the base stations are combined pairwise to be divided into at least three base station groups;
a target mobile terminal;
the communication module is used for enabling the two base stations in each base station group to sequentially communicate with the target mobile terminal, and calculating the total distance of signals in the base station group sequentially transmitted between the two base stations and the target mobile terminal according to the time difference between the signals transmitted by the starting base station and the signals received by the starting base station;
and the calculating module is used for calculating the position coordinate of the target mobile terminal according to the known coordinates and the corresponding total distance of the two base stations in each base station group.
As a preferred embodiment, the target mobile terminal may be a mobile smart terminal, a bracelet, a tracker, an embedded module, a smart robot, or an industrial sensor device. The target mobile terminal has the function of starting up, and the user or the article does not need to know any information of the positioning environment in advance when positioning.
The base station can be provided with a WiFi module, the base station is provided with a Wi-Fi module to provide an internet access function, the base station and the mobile station can interact through ultra-wideband signals, and the base station is connected to the internet, so that all equipment can be managed and served through a background server. The base station end can directly obtain the distance and information of the mobile station and upload the distance and information to the server, and a high-precision and high-reliability positioning result is obtained through a data processing algorithm, and the coverage range of the base station is wide.
The system also comprises an ad hoc network function module which can realize that the base station used as a positioning signal source has automatic networking, so that different base stations have automatic signal calibration and communication functions.
The patent also discloses a mobile terminal, and the terminal essence is the target mobile terminal in the patent, and the target mobile terminal comprises components such as a processor, a communication module and the like, such as a mobile intelligent terminal, a bracelet, a tracker, an embedded module, an intelligent robot or an industrial sensor device, and the positioning method can be realized through corresponding programs.
The patent also discloses a server, which is used for being in communication connection with a base station or a target mobile terminal, and the server can realize the positioning method. The server may also include a user interface, a network interface, a camera, radio frequency circuitry, sensors, audio circuitry, a WI-FI module, and so forth. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., a bluetooth interface, WI-FI interface), etc.
The patent technology provides a brand new positioning method, which obtains TDoDR (Time Difference of reception and transmission) observed quantity by changing the communication sequence between base stations and mobile stations, and can obtain real-Time accurate two-dimensional or three-dimensional position information of a target mobile terminal user by using three or more base stations as positioning signal sources. In the technical scheme, the base stations do not need to be provided with multiple antennas, and extra stay wire connection is not needed among the base stations; the technology of the patent is based on length information and is irrelevant to the distance between a mobile station and a base station in a signal coverage range; this patent technique does not need any time synchronization, has removed the time synchronization error, is of value to the positioning result, and positioning accuracy is high to can cover the large area, compare in traditional technique, the implementation method is simpler, and the positioning result is superior to traditional mode moreover.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An ultra-wideband positioning method based on ellipsoid intersection is characterized by comprising the following steps:
1) selecting at least three base stations (A, B, C) with known position coordinates as positioning signal sources, and combining the selected base stations into at least three base station groups (A, B), (A, C) and (B, C);
2) two base stations in each base station group sequentially communicate with a target mobile terminal (T), and the total distance (D) of the signals in the base station group sequentially transmitted between the two base stations and the target mobile terminal is calculated according to the time difference between the signals transmitted by the starting base station and the signals received by the starting base station;
3) and (3) calculating the position coordinates of the target mobile terminal according to the known coordinates of the two base stations in each base station group and the corresponding total distance (D) in the step 2).
2. The ultra-wideband positioning method based on ellipsoid intersection as claimed in claim 1, wherein the distance sum (D) in step 2) is calculated by: firstly, an initial base station (A) sends a data packet to a middle base station (B), a timestamp (Td) is recorded, the middle base station (B) immediately sends the data packet to a target mobile terminal (T) after receiving the data packet, the target mobile terminal (T) immediately sends the data packet to the initial base station (A) after receiving the data packet, and the initial base station (A) records the timestamp Tr after receiving the data packet, namely: where c is the propagation velocity of the electromagnetic wave in air, and is a constant.
3. The ultra-wideband positioning method based on ellipsoid intersection as claimed in claim 1, wherein the base station as the positioning signal source has an automatic networking function, and different base stations have automatic signal calibration and communication functions.
4. The ultra-wideband positioning method based on ellipsoid intersection as claimed in claim 1, wherein spatial three-dimensional coordinates, horizontal plane two-dimensional coordinates, vertical plane two-dimensional coordinates, one-dimensional coordinates, and mileage information can be obtained according to the position coordinates of the target mobile terminal.
5. An ultra-wideband positioning system based on ellipsoid intersection, characterized in that it includes:
at least three base stations (A, B, C) with known position coordinates, wherein the base stations are combined into at least three base station groups (A, B), (A, C) and (B, C);
a target mobile terminal (T);
a communication module, which is used for enabling two base stations in each base station group to sequentially communicate with a target mobile terminal (T), and calculating the total distance (D) of signals in the base station group sequentially transmitted in sequence between the two base stations and the target mobile terminal according to the time difference between the signals transmitted by the starting base station and the signals received by the starting base station;
and the calculating module is used for calculating the position coordinate of the target mobile terminal according to the known coordinates and the corresponding total distance (D) of the two base stations in each base station group.
6. The ultra-wideband positioning system based on ellipsoid intersection according to claim 5, characterized in that the target mobile terminal (T) is a mobile smart terminal, a bracelet, a tracker, an embedded module, a smart robot or an industrial sensor device.
7. The ultra-wideband positioning system based on ellipsoid intersection as claimed in claim 5, wherein a WiFi module is provided on the base station.
8. The ultra-wideband positioning system based on ellipsoid intersection as claimed in claim 5, further comprising an ad hoc network function module, wherein said ad hoc network function module can realize automatic networking of base stations as positioning signal sources, so that different base stations have automatic signal calibration and communication functions.
9. A wireless terminal, characterized by: the wireless mobile terminal can realize the ultra-wideband positioning method based on the ellipsoid intersection in any one of claims 1 to 4.
10. A server, characterized by: the server can realize the ultra-wideband positioning method based on the ellipsoid intersection in any one of claims 1 to 4.
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