CN112946573A - Cross-region shared UWB base station under closed space, positioning system and positioning method - Google Patents
Cross-region shared UWB base station under closed space, positioning system and positioning method Download PDFInfo
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- CN112946573A CN112946573A CN202110225145.1A CN202110225145A CN112946573A CN 112946573 A CN112946573 A CN 112946573A CN 202110225145 A CN202110225145 A CN 202110225145A CN 112946573 A CN112946573 A CN 112946573A
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/02—Services making use of location information
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Abstract
The invention discloses a UWB base station shared by cross-region under a closed space, a positioning system and a positioning method. The UWB base station is installed by adopting a single-base-station multi-antenna method, and adjacent closed areas share the same base station, so that the positioning accuracy is ensured, the number of required base stations is reduced, and the cost is reduced; the signal receiving and transmitting antenna is installed in the closed area adjacent to the closed area where the base station is located through the wall-through cable, so that the problem of large wall-through attenuation of the UWB signal is solved; the antenna angle or other auxiliary measuring equipment does not need to be accurately installed, and the positioning accuracy is high; the number of the closed area where the label is located is judged by a positioning label strong correlation base station judgment method, the method is simple, TOF (time of flight) and other algorithms are used for further accurate positioning, and the method has high reliability.
Description
Technical Field
The invention relates to the technical field of indoor positioning and communication, in particular to a UWB base station shared by cross-region under a closed space, a positioning system and a positioning method.
Background
The UWB indoor positioning adopts a wireless carrier communication technology, namely, a sinusoidal carrier is not adopted, and nanosecond-level non-sinusoidal wave narrow pulses are used for transmitting data, so that the occupied frequency spectrum range is wide, and the UWB indoor positioning has the advantages of high positioning precision, fast data transmission, strong multipath resolution, low power consumption and the like.
According to the FCC regulations, the frequency of the 7.5GHz bandwidth, which ranges from 3.1GHz to 10.6GHz, is the frequency range used by UWB technology, electromagnetic waves in the 250MHz to 3GHz spectrum effectively penetrate most building materials, but as the frequency increases, the attenuation of electromagnetic signals above 3.1GHz through walls is great, and therefore the wall penetration capability of UWB positioning systems is poor. Currently, mainstream positioning algorithms TOF, TDOA, AOA, etc. utilize communication ranging and time difference between a tag and multiple base stations to realize tag positioning. However, because the UWB signal penetrates through the wall to be greatly attenuated, especially the wall or the warehouse wall with the internal steel bars, the positioning precision requirement can be achieved only by increasing the number of base stations; generally, in order to meet the requirement of positioning accuracy, at least more than three UWB base stations should be arranged in each closed area, which results in increased cost of the positioning system in the same area and increased limitation of the use scenario of the UWB positioning system. The AOA positioning algorithm based on the single base station and the multiple antennas realizes the positioning of the tags by utilizing the angles measured by the communication between the tags and the different antennas of the same base station, and the number of the base stations can be reduced.
Disclosure of Invention
In order to solve the problems, the invention provides a UWB base station shared by a lower cross region of a closed space, a positioning system and a positioning method, wherein the adjacent closed regions share one UWB base station through the design of the UWB base station, and UWB signals pass through a wall without attenuation, so that the number of the UWB base stations is greatly reduced, and the cost of the positioning system is reduced; antenna angle or other auxiliary measuring equipment do not need to be installed accurately, errors cannot be caused due to angle measurement, the practical application difficulty is small, and the positioning accuracy is high.
The technical scheme adopted by the invention is as follows:
a UWB base station is shared in a cross-region under a closed space, the UWB base station is connected with a plurality of signal receiving and transmitting antennas, the signal receiving and transmitting antennas are directly connected with the UWB base station or installed in another adjacent region through a wall cable, and the adjacent regions share one UWB base station.
The UWB base station can receive UWB signals in a plurality of adjacent closed areas by connecting a plurality of signal receiving and transmitting antennas arranged in the adjacent areas, so that the plurality of closed areas share one UWB base station, the number of UWB base stations required to be installed is greatly reduced, and the cost is reduced; the through-wall cable can transmit signals received by the signal receiving and transmitting antenna to the UWB base station without attenuation, so that the problem that the through-wall strength of the UWB signals is greatly attenuated is solved, and the positioning accuracy is improved.
The invention also provides a positioning system of the UWB base station shared by the cross-region under the closed space, which comprises a positioning label, a plurality of UWB base stations connected with the positioning label, and a data processing system connected with the UWB base stations, wherein the positioning label is fixed on a movable object to be positioned and sends a UWB signal to the UWB base station; the closed space is divided into a plurality of closed areas, each closed area is provided with at least three signal receiving and transmitting antennas, and one signal receiving and transmitting antenna in each adjacent closed area is directly connected with the same UWB base station through a wall-through cable; the UWB base station receives the UWB signals through the signal receiving and transmitting antenna and transmits the UWB signals to the data processing system, and the data processing system analyzes and positions the received UWB signals. The connection mode between the positioning tag and the UWB base station is communication connection, and the connection mode between the UWB base station and the data processing system is network connection.
Preferably, the positioning system further comprises a clock distributor, and the clock distributor is respectively in wired connection with the UWB base station and the data processing system, so that clocks of all base stations in the positioning system are kept synchronous, and the positioning accuracy is improved.
Preferably, the data processing system comprises a data transmission unit, a closed area determination unit where the positioning tag is located, and a position calculation unit of the positioning tag in the closed area, which are connected in sequence. The data transmission unit is used for transmitting data signals such as time, distance and the like, the closed area judgment unit where the positioning label is located is used for preliminarily judging the closed area where the label is located, and the position calculation unit of the positioning label in the closed area is used for calculating the specific position of the positioning label in the closed area.
The invention also provides a positioning method of the cross-region sharing UWB base station positioning system under the closed space, which comprises the following steps:
s1, judging the closed area where the positioning label is located: numbering all closed areas divided in the closed space, and labeling each UWB base station according to the number of the closed area where a signal transceiving antenna connected with the UWB base station is installed; when the positioning label sends out UWB signals and is received by a plurality of UWB base stations, judging that the closed area with the largest number of times of occurrence in the labels of the UWB base stations is the area where the positioning label is located; the method for judging the position of the closed area where the positioning label is positioned is called a positioning label strong correlation base station judgment method;
s2, calculating the position of the positioning label in the closed area: and after the closed region where the positioning label is located is determined, calculating the specific position of the positioning label in the region through a TDOA (time difference of arrival) positioning algorithm, a TOF (time of flight) positioning algorithm or a TOA positioning algorithm.
The invention provides a cross-region shared UWB base station under a closed space, a positioning system and a positioning method,
1. compared with the traditional single-base-station single-antenna positioning system, the UWB positioning base station is installed by adopting a single-base-station multi-antenna method, so that adjacent closed areas share the same base station, and on the premise of ensuring the positioning accuracy of a single closed area, the number of base stations required to be arranged in a multi-closed area environment is reduced, and the cost of the positioning system is reduced;
2. the signal receiving and transmitting antenna is installed in the closed area adjacent to the closed area where the base station is located through the wall-penetrating cable, so that the problem of large UWB signal wall-penetrating attenuation is solved, and particularly the wall or the warehouse wall with the reinforcing steel bars inside is provided;
3. compared with the traditional method (AOA positioning algorithm) for positioning by measuring the distance and the angle between the base station and the mobile tag through a single base station and multiple antennas, the method does not need to accurately install antenna angles or other auxiliary measuring equipment, does not bring errors due to angle measurement, and has small practical application difficulty and high positioning accuracy;
4. the number of the closed area where the label is located is judged by a positioning label strong correlation base station judgment method, other complex algorithms are not needed, and the method is simple; and furthermore, the TOF, TDOA or TOA algorithm is utilized to accurately locate the location label in the closed area, so that the method has high reliability.
Drawings
Fig. 1 is a schematic structural diagram of a UWB base station in embodiment 1;
fig. 2 is a schematic structural view of a UWB base station installed in a straight wall;
FIG. 3 is a schematic diagram of a UWB base station mounted on a T-wall;
fig. 4 is a schematic structural view of a UWB base station installed on a cross-shaped wall;
fig. 5 is a schematic structural diagram of a positioning system for sharing a UWB base station across a region under a closed space according to embodiment 2;
FIG. 6 is a schematic diagram of a conventional UWB base station positioning system;
FIG. 7 is a schematic diagram of the architecture of a closed space down span sharing UWB base station positioning system of the present invention with clock dividers;
fig. 8 is a schematic block diagram of a positioning system for sharing UWB base stations across a region under a closed space according to the present invention.
Reference numerals: 1. positioning the label; 2. a UWB base station; 3. a signal transceiving antenna; 4. a through-wall cable; 5. a wall; 51. a linear wall; 52. a T-shaped wall; 53. a cross-shaped wall; 6. a data processing system; 601. a data transmission unit; 602. a closed area judgment unit for positioning the label; 603. and a position calculation unit for positioning the label in the closed area.
Detailed Description
The following detailed description of the invention refers to specific embodiments thereof for better understanding by those skilled in the art.
Example 1
A UWB base station is shared in a cross-region under a closed space, as shown in figures 1-4, the UWB base station 2 is connected with a plurality of signal transceiving antennas 3, the signal transceiving antennas 3 are directly connected with the UWB base station 2 or are installed in another adjacent region through a wall cable 4, and the adjacent regions share one UWB base station 2.
Line-shaped wall mounting structure of UWB base station 2: as shown in fig. 2, a straight-line wall 51 divides a closed space into two closed areas a and b, when the UWB base station 2 is located in the closed area b, the UWB base station 2 is connected to two signal transceiving antennas 3, one of the signal transceiving antennas 3 is installed on the other side of the straight-line wall 51 through the straight-line wall 51 via a through-wall cable 4, that is, the closed area a, for receiving the UWB signal of the closed area a and transmitting the signal to the UWB base station 2 without attenuation via the through-wall cable 4, and the other signal transceiving antenna 3 is directly connected to the UWB base station 2, for receiving the UWB signal of the closed area b and transmitting the UWB signal to the UWB base station 2; therefore, the two closed areas a and b on the two sides of the straight-line-shaped wall 51 share one UWB base station 2, one UWB base station is saved, and the problem that the signal through-wall strength is greatly attenuated is solved.
UWB basic station 2's T font wall mounting structure: as shown in fig. 3, a T-shaped wall 52 divides a closed space into three closed areas c, d and e, when the UWB base station 2 is disposed on one side of the T-shaped wall 52, taking the closed area d as an example, the UWB base station 2 is connected to three signal-transmitting/receiving antennas 3, one of the signal-transmitting/receiving antennas 3 is directly connected to the UWB base station 2, i.e., installed in the closed area d, for receiving and transmitting the UWB signal of the closed area d to the UWB base station 2, the other two signal transceiving antennas 3 are respectively installed in the closed area c and the closed area e through the T-shaped wall 52, respectively receives UWB signals of the two areas and transmits the signals to the UWB base station 2 through a wall-through cable 4 without attenuation, therefore, the three closed areas of c, d and e separated by the T-shaped wall 52 share one UWB base station 2, two UWB base stations are saved, and the problem that the signal through-wall strength is greatly attenuated is solved.
UWB basic station 2's cross wall mounting structure: as shown in fig. 4, a cross-shaped wall 53 divides a closed space into four closed areas f, g, h, i, when the UWB base station 2 is provided on one side of the cross-shaped wall 53, taking the closed area f as an example, the UWB base station 2 is connected to four signal-transmitting/receiving antennas 3, one of the signal-transmitting/receiving antennas 3 is directly connected to the UWB base station 2, i.e., installed in the closed region f, for receiving and transmitting the UWB signal of the closed region f to the UWB base station 2, the other three signal transceiving antennas 3 are respectively installed in the closed area g, the closed area h and the closed area i through the cross-shaped wall 53, respectively receives UWB signals of the three areas and transmits the signals to the UWB base station 2 through a wall-through cable 4 without attenuation, therefore, four closed areas separated by the cross-shaped wall share one UWB base station 2, three UWB base stations are saved, and the problem that the signal through-wall strength is greatly attenuated is solved.
Example 2
The present embodiment provides a positioning system for sharing a UWB base station across an area under a closed space, as shown in fig. 5, including a positioning tag 1, a plurality of UWB base stations 2 as described in embodiment 1 connected to the positioning tag 1, and a data processing system connected to the UWB base stations 2, where the positioning tag 1 is fixed to a movable object to be positioned, and sends a UWB signal to the UWB base station 2; the closed space is divided into a plurality of closed areas through walls 5, each closed area is provided with at least three signal transceiving antennas 3, and one signal transceiving antenna 3 in each adjacent closed area is connected with the same UWB base station 2 through a wall-through cable 4 or directly; the UWB base station 2 receives the UWB signals through the signal receiving and transmitting antenna 3 and transmits the UWB signals to the data processing system, and the data processing system analyzes and positions the received UWB signals. The connection mode between the positioning tag 1 and the UWB base station 2 is communication connection, and the connection mode between the UWB base station 2 and the data processing system is network connection.
The positioning system of the present embodiment is specifically described below with reference to fig. 5:
as shown in fig. 5, the closed space is divided into A, B, C, D, E five square closed areas by walls, A, B, C, D four closed areas form a field-shaped closed area, and two closed areas, namely closed area E and B, D, are adjacent to each other and are located on the right side of the closed area; in the present embodiment, in order to ensure positioning accuracy and reduce positioning errors due to occlusion, four UWB base stations 2 are arranged in a single closed region. Fig. 6 shows a conventional UWB base station positioning system, where four UWB base stations are required to be installed in each of the five closed regions, and the number of base stations required to be installed is 4 × 5 — 20; fig. 5 is a positioning system of a UWB base station according to embodiment 1 of the present invention, where a wall-through cable 4 is used to share UWB base stations 2 with adjacent closed areas, and it is assumed that there are X UWB base stations 2 (see fig. 2) using a straight-line wall installation structure; the UWB base station 2 (as shown in fig. 3) adopting the T-shaped wall installation structure has a Y-place; the UWB base station 2 (as shown in fig. 4) adopting the cross-shaped wall mounting structure has a Z position; the quantity of the UWB base stations 2 to be installed is the quantity of the traditional UWB base stations required to be installed minus the quantity of the base stations saved by the method, namely 20-X-2Y-3Z; according to the layout of the closed region in fig. 6, X is 5, Y is 1, and Z is 1, so that 10 UWB base stations 2 are obtained, which saves half of the installation amount of the UWB base stations and greatly reduces the cost of the positioning system compared with the conventional positioning system.
The layout of the UWB base station is as shown in fig. 5, and each closed area is ensured to have 4 available UWB base stations 2 by sharing one UWB base station 2 by a plurality of closed areas; four corners in the closed area A are respectively provided with four UWB base stations 2OA、OAB、OAC、OABCDIn which O isAA signal receiving and transmitting antenna 3 is connected and used for receiving UWB signals of the closed area A; o isABA linear wall structure is adopted to connect two signal transceiving antennas 3 and is used for receiving A, B UWB signals of two closed areas; o isACA linear wall structure is adopted to connect two signal transceiving antennas 3 and is used for receiving A, C UWB signals of two closed areas; o isABCDA cross-shaped wall structure is adopted, and four signal transceiving antennas 3 are connected and used for receiving A, B, C, D UWB signals of four closed areas; two angles far away from the closed area A in the closed area B are respectively provided with two UWB base stations OBE、OBDEWherein O isBEBy using a line-shaped wall structure to connect two signal receiving/transmitting antennas 3Receiving B, E UWB signals of two closed regions; o isBDEA T-shaped wall structure is adopted, and the three signal transceiving antennas 3 are connected and used for receiving B, D, E UWB signals of three closed areas; two angles far away from the closed area A in the closed area C are respectively provided with two UWB base stations OC、OCDWherein O isCA signal receiving and transmitting antenna 3 is connected and used for receiving UWB signals of the closed area C; o isCDA linear wall structure is adopted to connect two signal transceiving antennas 3 and is used for receiving C, D UWB signals of two closed areas; the corners far away from the closed areas B and C in the closed area D are provided with UWB base stations ODE，ODEA linear wall structure is adopted to connect two signal transceiving antennas 3 and is used for receiving D, E UWB signals of two closed areas; o isBE、OBDE、ODEThree UWB base stations can receive UWB signals sent out in the closed area E, therefore, according to the principle that each closed area ensures four UWB base stations, only one UWB base station 2 needs to be installed in the closed area E; therefore, A, B, C, D, E five closed areas are respectively provided with four UWB base stations 2 which can be used, and the positioning accuracy in the whole closed space is ensured.
As shown in fig. 7, the positioning system further includes a clock distributor, and the clock distributor is wired to the UWB base station and the data processing system through synchronous clock lines, so that clocks of all UWB base stations in the system are kept synchronous.
As shown in fig. 8, the data processing system 6 includes a data transmission unit 601, a closed area determination unit 602 where a positioning tag is located, and a position calculation unit 603 of a positioning tag in a closed area, which are connected in sequence. The data transmission unit 601 is configured to transmit data signals such as time and distance, the closed region determination unit 602 where the positioning tag is located is configured to primarily determine the closed region where the positioning tag is located, and the position calculation unit 603 of the positioning tag in the closed region is configured to calculate a specific position of the positioning tag in the closed region.
Example 3
The embodiment provides a positioning method of the above-mentioned UWB base station positioning system shared across regions in a closed space, which includes the following steps:
s1, judging the closed area where the positioning label 1 is located: numbering all closed areas divided in the closed space, and labeling each UWB base station 2 according to the number of the closed area where the signal transceiving antenna 3 connected with the UWB base station is installed; when the positioning tag 1 sends out a UWB signal and is received by a plurality of UWB base stations 2, judging that the closed area with the largest number of times of occurrence of the serial number in the labels of the plurality of UWB base stations 2 is the area where the positioning tag 1 is located;
s2, calculating the position of the positioning label 1 in the closed area: after the closed region where the positioning tag 1 is located is determined, the specific position of the positioning tag 1 in the region is calculated through a TDOA positioning algorithm, a TOF positioning algorithm or a TOA positioning algorithm.
When the positioning system of the invention is adopted to position the positioning tag 1, because a plurality of closed areas share one UWB base station 2, when the plurality of UWB base stations 2 receive UWB signals, the closed area where the positioning tag 1 sending the signal is located needs to be judged firstly; as shown in fig. 5, five closed regions are numbered A, B, C, D, E, and each UWB base station 2 is labeled with the closed region number to which the signal transmitting/receiving antenna 3 connected thereto is attached, that is, the UWB base station OAUWB base station, UWB base station O, for receiving UWB signals of closed area A onlyABUWB base station, UWB base station O, common to representation capsule area A, BBDEUWB base station, UWB base station O, common to representation capsule area B, D, EABCDRepresenting a UWB base station shared by enclosed area A, B, C, D, and so on. When the positioning tag 1 sends out a signal and is received by a plurality of UWB base stations 2, the closed area with the largest number of occurrences in the labels of the plurality of UWB base stations 2 is determined as the area where the positioning tag 1 is located, namely when OBE、OBDE、ODE、OEWhen the four UWB base stations 2 receive UWB signals, the number E of the closed area is the most, so that the positioning label 1 is judged to be positioned in the closed area E, and the method for judging the position of the closed area where the positioning label is positioned is called a positioning label strong correlation base station judgment method;
in this embodiment, when more than four UWB base stations receive signals sent by the same positioning tag at the same time, only the four UWB base stations with the largest signal intensity are selected to determine the location of the closed area where the positioning tag is located. In the invention, if N (N is more than or equal to 3) UWB base stations can be used in each closed area, and when the number of UWB base stations receiving signals sent by the same positioning label is more than N, only the N UWB base stations with the strongest signals are selected to judge the position of the closed area where the positioning label is located, and other complex algorithms are not needed.
After the closed region where the positioning tag 1 is located is determined, the specific position of the positioning tag 1 in the region is calculated through a TDOA positioning algorithm, a TOF positioning algorithm or a TOA positioning algorithm.
The present invention provides a UWB base station shared by a cross-region under a closed space, a positioning system and a positioning method. The principles and embodiments of the present invention are explained herein using specific examples, which are set forth only to aid in understanding the methods and concepts of the invention, and the directional terms used are, for example: upper, lower, left, right, front, rear, etc. are directions with reference to the drawings only, and directional terms used are intended to illustrate and not to limit the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (5)
1. The UWB base station is connected with a plurality of signal transceiving antennas, the signal transceiving antennas are directly connected with the UWB base station or installed in another adjacent area through a wall by a wall-through cable, and the adjacent areas share one UWB base station.
2. A positioning system for sharing UWB base station under a cross-region of a closed space, which is characterized in that the positioning system comprises a positioning tag, a plurality of UWB base stations as claimed in claim 1 connected with the positioning tag, and a data processing system connected with the UWB base stations, wherein the positioning tag is fixed on a movable object to be positioned and sends UWB signals to the UWB base stations; the closed space is divided into a plurality of closed areas, each closed area is provided with at least three signal receiving and transmitting antennas, and one signal receiving and transmitting antenna in each adjacent closed area is directly connected with the same UWB base station through a wall-through cable; the UWB base station receives the UWB signals through the signal receiving and transmitting antenna and transmits the UWB signals to the data processing system, and the data processing system analyzes and positions the received UWB signals.
3. The positioning system for the UWB base station sharing under the cross-region of the enclosed space according to claim 2, wherein the positioning system further comprises a clock distributor, and the clock distributor is respectively connected with the UWB base station and the data processing system.
4. The positioning system of the UWB base station sharing across the area under the closed space according to claim 2, wherein the data processing system comprises a data transmission unit, a closed area determination unit where the positioning tag is located and a position calculation unit of the positioning tag in the closed area, which are connected in sequence.
5. A positioning method of a closed space sub-span area sharing UWB base station positioning system according to any of claims 2-4, characterized by comprising the following steps:
s1, judging the closed area where the positioning label is located: numbering all closed areas divided in the closed space, and labeling each UWB base station according to the number of the closed area where a signal transceiving antenna connected with the UWB base station is installed; when the positioning label sends out UWB signals and is received by a plurality of UWB base stations, judging that the closed area with the largest number of times of occurrence in the labels of the UWB base stations is the area where the positioning label is located;
s2, calculating the position of the positioning label in the closed area: and after the closed region where the positioning label is located is determined, calculating the specific position of the positioning label in the region through a TDOA (time difference of arrival) positioning algorithm, a TOF (time of flight) positioning algorithm or a TOA positioning algorithm.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115639521A (en) * | 2022-10-24 | 2023-01-24 | 青岛柯锐思德电子科技有限公司 | UWB-based moving object motion state judgment method |
| CN116567759A (en) * | 2023-04-10 | 2023-08-08 | 青岛柯锐思德电子科技有限公司 | Roaming scheduling algorithm of TWR positioning technology based on UWB |
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2021
- 2021-03-01 CN CN202110225145.1A patent/CN112946573A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115639521A (en) * | 2022-10-24 | 2023-01-24 | 青岛柯锐思德电子科技有限公司 | UWB-based moving object motion state judgment method |
| CN116567759A (en) * | 2023-04-10 | 2023-08-08 | 青岛柯锐思德电子科技有限公司 | Roaming scheduling algorithm of TWR positioning technology based on UWB |
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