CN113347704B - UWB positioning method, UWB positioning device and system - Google Patents
UWB positioning method, UWB positioning device and system Download PDFInfo
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- CN113347704B CN113347704B CN202110604709.2A CN202110604709A CN113347704B CN 113347704 B CN113347704 B CN 113347704B CN 202110604709 A CN202110604709 A CN 202110604709A CN 113347704 B CN113347704 B CN 113347704B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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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
Abstract
The application discloses a UWB positioning method, a UWB positioning device and a system, wherein the method comprises the following steps: acquiring first position information of a target to be positioned, wherein the first position information comprises a first positioning direction of the target to be positioned; adjusting the phase relationship of the two UWB antennas to adjust the minimum composite radiation direction of the two UWB antennas to a first positioning direction; adjusting in the first positioning direction according to a preset angle amplitude along the clockwise direction and the anticlockwise direction until a second positioning direction is obtained, wherein the second positioning direction represents a synthetic radiation direction when a synthetic gain value of the two UWB antennas reaches a first minimum gain value during the adjustment processing; and determining the second positioning direction as the target positioning direction of the target to be positioned. The UWB positioning method, the UWB positioning device and the UWB positioning system can enable the phase center distance of the two UWB antennas to be separated from the limit of being lower than half of the wavelength of the antennas, the occurrence of the situation of symmetry misjudgment can be avoided when a target is positioned, and the direction positioning accuracy is improved.
Description
Technical Field
The present invention relates generally to the technical field of positioning devices, and more particularly to the technical field of UWB positioning, and more particularly to a UWB positioning method, a UWB positioning apparatus, and a system.
Background
An UWB (Ultra Wide Band) positioning system generally includes a main board and two antennas, and the two antennas jointly position a target to obtain an azimuth of the target.
In the related art, the distance between the phase centers of two UWB antennas is usually required to be smaller than half of the operating wavelength, so that the distance for setting the antennas is limited to a certain extent, and the difficulty in setting the layout of the UWB antennas is increased.
Disclosure of Invention
In view of the above-mentioned drawbacks or deficiencies in the prior art, it is desirable to provide a UWB positioning method, a UWB positioning device and a system.
In a first aspect, the present application provides a UWB positioning method, comprising:
acquiring first position information of a target to be positioned, wherein the first position information comprises a first positioning direction of the target to be positioned;
adjusting the phase relationship of the two UWB antennas to adjust the minimum composite radiation direction of the two UWB antennas to a first positioning direction;
adjusting in the first positioning direction according to a preset angle amplitude along clockwise and anticlockwise directions until a second positioning direction is obtained, wherein the second positioning direction represents a synthetic radiation direction when a synthetic gain value of the two UWB antennas reaches a first minimum gain value during adjustment processing;
and determining the second positioning direction as the target positioning direction of the target to be positioned.
In some embodiments, the adjusting in the first positioning direction according to the preset angle amplitude along the clockwise direction and the counterclockwise direction until the second positioning direction is obtained includes:
adjusting the current composite gain values of the two UWB antennas in the first positioning direction clockwise and anticlockwise respectively according to the preset angle amplitude to obtain a first gain value and a second gain value which represent the current composite gain values of the two UWB antennas;
determining the direction of subsequent adjustment processing according to the comparison result of the first gain value, the second gain value and a third gain value, wherein the third gain value is a synthetic gain value of the two UWB antennas when the minimum synthetic radiation direction is the first positioning direction;
and adjusting the processing according to the determined direction until a second positioning direction is obtained.
In some embodiments, determining the direction of the subsequent adjustment process based on the comparison of the first gain value, the second gain value, and the third gain value comprises:
and under the condition that the first gain value is larger than the third synthesis gain value and the second gain value is smaller than or equal to the third synthesis gain value, determining to continue adjusting along the anticlockwise direction until a second positioning direction is obtained.
In some embodiments, determining the direction of the subsequent adjustment process based on the comparison of the first gain value, the second gain value, and the third gain value comprises: and under the condition that the second gain value is greater than the third synthesis gain value and the first gain value is less than or equal to the third synthesis gain value, determining to continue to adjust in the clockwise direction until a second positioning direction is obtained.
In some embodiments, determining the direction of the subsequent adjustment process according to the comparison of the first gain value, the second gain value, and the third gain value comprises: and under the condition that the first gain value and the second gain value are both larger than the third synthetic gain value, determining the first positioning direction as the second positioning direction.
In some embodiments, the two UWB antennas comprise a first UWB antenna and a second UWB antenna, the first positioning information further comprises a first positioning distance of the object to be positioned;
acquiring first position information of a target to be positioned, comprising:
acquiring distance values from a first UWB antenna to a target to be positioned for multiple times, and averaging the acquired distance values for multiple times to obtain a first distance value;
acquiring distance values from a second UWB antenna to a target to be positioned for multiple times, and averaging the acquired distance values for multiple times to obtain a second distance value;
and determining first position information according to the first distance value, the second distance value and the phase center distance between the two UWB antennas, wherein the phase center distance between the two UWB antennas is a known value.
In some embodiments, the preset angular magnitude is greater than 0 ° and less than 1 °.
In a second aspect, the present application further provides a positioning device, comprising:
the positioning device comprises an acquisition unit, a positioning unit and a positioning unit, wherein the acquisition unit is used for acquiring first position information of a target to be positioned, and the first position information comprises a first positioning direction of the target to be positioned;
the adjusting unit is used for adjusting the phase relation of the two UWB antennas so as to adjust the minimum synthetic radiation direction of the two UWB antennas to a first positioning direction, and adjusting the minimum synthetic radiation direction of the two UWB antennas in the first positioning direction according to a preset angle amplitude along the clockwise direction and the anticlockwise direction until a second positioning direction is obtained, wherein the second positioning direction represents the synthetic radiation direction when the synthetic gain value of the two UWB antennas reaches the first minimum gain value during the adjusting process;
and the determining unit is used for determining that the second positioning direction is the target positioning direction of the target to be positioned.
In some embodiments, the adjusting unit comprises:
the first adjusting module is used for adjusting once in the clockwise direction and the anticlockwise direction according to the preset angle amplitude respectively in the first positioning direction to obtain a first gain value and a second gain value representing the current synthetic gain values of the two UWB antennas;
a first determining module, configured to determine a direction of subsequent adjustment processing according to a comparison result of the first gain value, the second gain value, and a third gain value, where the third gain value is a synthesized gain value of the two UWB antennas when a minimum synthesized radiation direction is a first positioning direction;
and the second adjusting module is used for adjusting the processing according to the determined direction until a second positioning direction is obtained.
In some embodiments, the first determining module is configured to determine to continue adjusting in the counterclockwise direction until the second positioning direction is obtained if the first gain value is greater than the third synthesis gain value and the second gain value is less than or equal to the third synthesis gain value;
under the condition that the second gain value is larger than the third synthesis gain value and the first gain value is smaller than or equal to the third synthesis gain value, the adjustment is determined to be continued along the clockwise direction until a second positioning direction is obtained;
and under the condition that the first gain value and the second gain value are both larger than the third synthetic gain value, determining the first positioning direction as the second positioning direction.
In some embodiments, the two UWB antennas comprise a first UWB antenna and a second UWB antenna, the first positioning information further comprises a first positioning distance of the object to be positioned;
the acquisition unit includes:
the acquisition module is used for acquiring the distance value from the first UWB antenna to the target to be positioned for multiple times and acquiring the distance value from the second UWB antenna to the target to be positioned for multiple times;
the calculating module is used for averaging the obtained multiple distance values to obtain a first distance value and averaging the obtained multiple distance values to obtain a second distance value;
and the second determining module is used for determining the first position information according to the first distance value, the second distance value and the phase center distance between the two UWB antennas, wherein the phase center distance between the two UWB antennas is a known value.
In some embodiments, the preset angular magnitude is greater than 0 ° and less than 1 °.
In a third aspect, the present application provides a UWB positioning system, including a motherboard, a detector and a positioning apparatus, where the detector is configured to detect first position information of an object to be positioned, and the detector includes two UWB antennas connected to the motherboard at intervals.
In some embodiments, the phase center distance between two UWB antennas is greater than or equal to half the operating wavelength of the UWB antennas.
In some embodiments, a phase shifter is further included for adjusting the phase relationship of the two UWB antennas.
The utility model provides a UWB positioning method, UWB positioner and system, through treating after treating the location target and tentatively fix a position and acquire first position information, treat the first location direction of location target again and carry out the secondary location and obtain the target location direction of the target of locating, can break through the restriction that the phase center of two UWB antennas set up the distance on the one hand, can reduce the overall arrangement design degree of difficulty between two UWB antennas, can also compromise the performance of single antenna and the isolation between two antennas simultaneously, the location performance of UWB positioning system is improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a UWB positioning method provided in an exemplary embodiment of the present disclosure;
fig. 2 is another UWB positioning method provided in an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating the combined orientation of two UWB antennas provided by an exemplary embodiment of the present disclosure at an operating frequency of 7.9 GHz;
FIG. 4 is a schematic diagram illustrating isolation between two UWB antennas at an operating frequency of 7.9GHz according to an exemplary embodiment of the present disclosure;
fig. 5 is a block diagram of an UWB locating device according to an exemplary embodiment of the present disclosure;
fig. 6 is a block diagram of another UWB positioning device according to an exemplary embodiment of the present disclosure;
fig. 7 is a circuit diagram of a timer according to an exemplary embodiment of the present disclosure.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
Referring to fig. 1, the present disclosure provides a UWB positioning method, including:
s100: acquiring first position information of a target to be positioned, wherein the first position information comprises a first positioning direction of the target to be positioned;
s200: adjusting the phase relationship of the two UWB antennas to adjust the minimum composite radiation direction of the two UWB antennas to a first positioning direction;
s300: adjusting in the first positioning direction according to a preset angle amplitude along clockwise and anticlockwise directions until a second positioning direction is obtained, wherein the second positioning direction represents a synthetic radiation direction when a synthetic gain value of the two UWB antennas reaches a first minimum gain value during adjustment processing;
s400: and determining the second positioning direction as the target positioning direction of the target to be positioned.
In this embodiment, the UWB positioning method is used to accurately position the target to be positioned, and may acquire first position information of the target to be positioned, where the first position information includes a first positioning direction, so as to implement preliminary positioning of the target to be positioned. And then, adjusting the phase relation of the two UWB antennas so as to adjust the minimum synthetic radiation direction of the two UWB antennas to a first positioning direction, adjusting the minimum synthetic radiation direction of the two UWB antennas in the first positioning direction according to a preset angle amplitude along the clockwise direction and the anticlockwise direction until a second positioning direction is obtained, and determining the second positioning direction as the target positioning direction of the target to be positioned so as to realize secondary positioning of the positioning direction of the target to be positioned.
The UWB positioning method provided by the embodiment can accurately position the direction of the target to be positioned through the primary positioning and the secondary positioning, and can avoid the occurrence of symmetry misjudgment when the phase center distance of the two UWB antennas is more than or less than half of the working wavelength, so that the limitation of the distance set by the phase center of the two UWB antennas can be broken through, the layout design difficulty between the two UWB antennas is reduced, the performance of a single antenna and the isolation between the two antennas can be considered simultaneously, and the positioning performance of the UWB positioning system is improved.
The first positioning information is obtained based on positioning data of the object to be positioned by the two UWB antennas, the first positioning direction can be the direction of the object to be positioned relative to one of the UWB antennas, and can also be the direction of a reference point of the object to be positioned relative to a midpoint between the two UWB antennas, and the method and the device are not limited in the application. The first positioning information further includes a first positioning distance, and similarly, the first positioning distance may be a distance between the object to be positioned and one of the UWB antennas, and may also be a distance between the object to be positioned and a reference point of a midpoint between the two UWB antennas, which is not limited in the present application.
Referring to fig. 2, in some embodiments of the present disclosure, adjusting in the first positioning direction according to a preset angle amplitude along a clockwise direction and a counterclockwise direction until obtaining a second positioning direction includes:
s310: adjusting clockwise and anticlockwise for one time in a first positioning direction according to a preset angle amplitude respectively to obtain a first gain value and a second gain value representing the current combined gain values of the two UWB antennas;
s320: determining the direction of subsequent adjustment processing according to the comparison result of the first gain value, the second gain value and a third gain value, wherein the third gain value is a combined gain value of the two UWB antennas when the minimum combined radiation direction is the first positioning direction;
s330: and adjusting the processing according to the determined direction until a second positioning direction is obtained.
In this embodiment, after the first positioning direction of the object to be positioned is obtained, the phase relationship between the two UWB antennas is continuously adjusted, so that the minimum combined radiation direction of the two UWB antennas is adjusted once in the first positioning direction according to the preset angle amplitude clockwise and counterclockwise, and the current combined gain value representing the two UWB antennas is obtained as the first gain value and the second gain value. And then, according to the comparison result of the first gain value, the second gain value and the third gain value, determining the direction of subsequent adjustment processing and adjusting the processing according to the determined direction until a second positioning direction is obtained. By such an arrangement, the adjustment times of the minimum combined radiation direction of the two UWB antennas can be reduced, the direction of subsequent adjustment processing can be guided, and the positioning efficiency can be improved.
In some embodiments of the present disclosure, determining the direction of the subsequent adjustment process according to the comparison result of the first gain value, the second gain value, and the third gain value includes:
under the condition that the first gain value is larger than the third synthesis gain value and the second gain value is smaller than or equal to the third synthesis gain value, the continuous adjustment in the anticlockwise direction is determined until a second positioning direction is obtained;
when the first gain value is larger than the third synthesis gain value and the second gain value is smaller than or equal to the third synthesis gain value, namely the synthesis gain of the antenna is increased when the minimum synthesis radiation direction of the two UWB antennas is adjusted along the clockwise direction, and the synthesis gain of the antenna is reduced when the minimum synthesis radiation direction of the two UWB antennas is adjusted along the anticlockwise direction, so that the target positioning direction can be determined to be positioned on one side of the first positioning direction along the anticlockwise direction, and at the moment, the continuous adjustment along the anticlockwise direction is determined until the second positioning direction is obtained.
In some embodiments, determining the direction of the subsequent adjustment process according to the comparison of the first gain value, the second gain value, and the third gain value comprises: under the condition that the second gain value is larger than the third synthesis gain value and the first gain value is smaller than or equal to the third synthesis gain value, the adjustment is determined to be continued along the clockwise direction until a second positioning direction is obtained;
under the condition that the second gain value is larger than the third synthesis gain value and the first gain value is smaller than or equal to the third synthesis gain value, namely the synthesis gain of the antennas is increased when the minimum synthesis radiation directions of the two UWB antennas are adjusted along the anticlockwise direction, and the synthesis gain of the antennas is reduced when the minimum synthesis radiation directions of the two UWB antennas are adjusted along the clockwise direction, so that the target positioning direction is determined to be positioned on one side of the first positioning direction along the clockwise direction, and at the moment, the continuous adjustment along the clockwise direction is determined until the second positioning direction is obtained.
In some embodiments, determining the direction of the subsequent adjustment process according to the comparison result of the first gain value, the second gain value, and the third gain value includes: and under the condition that the first gain value and the second gain value are both larger than the third synthetic gain value, determining the first positioning direction as the second positioning direction.
When the first gain value and the second gain value are both greater than the third synthetic gain value, that is, the synthetic gains of the antennas are both increased when the minimum synthetic radiation directions of the two UWB antennas are adjusted in the counterclockwise direction and the clockwise direction, so that the target positioning direction is determined to be the first positioning direction, and the first positioning direction is determined to be the second positioning direction.
The minimum combined radiation direction of the two UWB antennas has one or more, and any minimum combined radiation direction may be used in the present application. Referring to fig. 3, the operating frequency of the UWB antenna is 7.9GHz, and the minimum combined radiation directions of the two UWB antennas include a 0 ° direction and a 28 ° direction, etc. However, when the minimum combined radiation direction of the two UWB antennas is set to the 0 ° direction, the 0 ° direction and the 28 ° direction are greatly deviated, and therefore the 28 ° direction is not mistaken for the target direction. Referring to fig. 4, the isolation between the two UWB antennas reaches 50dB or more, which significantly reduces the interference between the two UWB antennas and improves the positioning performance.
The minimum composite radiation direction of the two UWB antennas describes the secondary positioning process of the present disclosure in a direction example with a direction of 0 °, specifically:
if the first positioning direction is 3 °, the minimum combined radiation direction of the two UWB antennas needs to be adjusted to 3 °, and then the minimum combined radiation direction is adjusted clockwise and counterclockwise by an angle of 0.2 ° in the first positioning direction. As can be seen from the figure, the combined gain value in the 3 ° direction is smaller than the combined gain value in the 3.2 ° direction but larger than the second gain value in the 2.8 ° direction. According to the magnitude relation of the three gain values, the direction of subsequent adjustment is the anticlockwise direction. If the resultant gain obtained by continuing to adjust the counter-clockwise direction by 0.2 ° is greater than the resultant gain in the direction of 2.8 °, the second positioning direction is assumed to be the direction of 2.8 °.
In some embodiments of the present application, the two UWB antennas comprise a first UWB antenna and a second UWB antenna, the first positioning information further comprises a first positioning distance of the object to be positioned;
obtaining first position information of an object to be positioned, comprising:
acquiring distance values from a first UWB antenna to an object to be positioned for multiple times, and averaging the acquired distance values for multiple times to obtain a first distance value;
obtaining the distance value from the second UWB antenna to the target to be positioned for multiple times, and averaging the obtained multiple distance values to obtain a second distance value;
and determining first position information according to the first distance value, the second distance value and the phase center distance between the two UWB antennas, wherein the phase center distance between the two UWB antennas is a known value.
In this embodiment, the accuracy of the first positioning distance can be improved by obtaining the distance value from the first UWB antenna to the object to be positioned a plurality of times and averaging the obtained distance values a plurality of times to obtain the first distance value, obtaining the distance value from the second UWB antenna to the object to be positioned a plurality of times and averaging the obtained distance values a plurality of times to obtain the second distance value, and then determining the first position information according to the first distance value, the second distance value, and the phase center distance between the two UWB antennas.
The method for obtaining the distance value from the first UWB antenna to the object to be positioned and the distance value from the second UWB antenna to the object to be positioned may be a TOF ranging method, and the like, which is not limited in the present application. Take TOF ranging method as an example:
acquiring the total time T from the first positioning request signal sent by the first UWB antenna to the first positioning feedback signal sent by the target to be positioned being received 1 The first positioning feedback signal is generated by a target to be positioned responding to the first positioning request signal;
obtaining the total time T from the receiving of the first positioning request signal to the sending of the first positioning feedback signal of the target to be positioned 11 ；
According to the calculation formula T 12 ＝(T 1 -T 11- T 0 ) Acquiring the time T from the first UWB antenna to the object to be positioned of the first positioning request signal 12 Wherein T is 0 The time consumed by the timer in the detector when the timer is started, stopped and cleared is a known value.
According to the calculation formula D 1 ＝c×T 12 Obtaining the distance D from the object to be positioned to the first UWB antenna 1 ＝(T 1 -T 11- T 0 ) c/2, wherein c is the speed of light in air.
Similarly, the total time T from the second UWB antenna sending the second positioning request signal to the second positioning feedback signal sent by the target to be positioned is obtained 2 Wherein a firstThe second positioning feedback signal is generated by responding to a second positioning request signal for the target to be positioned;
obtaining the total time T from the receiving of the second positioning request signal to the sending of the second positioning feedback signal of the target to be positioned 21 ；
According to the calculation formula T 22 ＝(T 2 -T 21- T 0 ) Acquiring the time T from the first UWB antenna to the object to be positioned 22 。
According to the calculation formula D 1 ＝c×T 22 And acquiring the distance D from the target to be positioned to the first UWB antenna 2 ＝(T 2 -T 21- T 0 )c/2。
Are respectively expressed by D 1 、D 2 And the phase center distance between the two UWB antennas is a triangle constructed by three sides, and the first position information is obtained through calculation according to the constructed triangle.
In some embodiments of the present disclosure, the predetermined angular magnitude is greater than 0 ° and less than 1 °.
In this embodiment, the direction accuracy of the first positioning direction obtained by the preliminary positioning is more than 1 °, and the direction positioning accuracy can reach ± 0.2 ° by setting the preset angle range to be greater than 0 ° and smaller than 1 °.
Referring to fig. 3, an embodiment of the present application further provides a positioning apparatus, including:
an obtaining unit 100, configured to obtain first position information of an object to be positioned, where the first position information includes a first positioning direction of the object to be positioned;
an adjusting unit 200, configured to adjust a phase relationship between the two UWB antennas to adjust a minimum combined radiation direction of the two UWB antennas to a first positioning direction, and configured to perform adjustment processing in the first positioning direction according to a preset angle amplitude along a clockwise direction and a counterclockwise direction until a second positioning direction is obtained, where the second positioning direction represents a combined radiation direction when a combined gain value of the two UWB antennas reaches a first minimum gain value during the adjustment processing;
a determining unit 300, configured to determine that the second positioning direction is a target positioning direction of the target to be positioned.
Referring to fig. 5, in some embodiments, the adjusting unit 200 includes:
a first adjusting module 210, configured to perform adjustment once in a clockwise direction and a counterclockwise direction according to a preset angle amplitude in a first positioning direction, respectively, so as to obtain a first gain value and a second gain value representing a current combined gain value of two UWB antennas;
a first determining module 220, configured to determine a direction of subsequent adjustment processing according to a comparison result of the first gain value, the second gain value, and a third gain value, where the third gain value is a combined gain value of the two UWB antennas when a minimum combined radiation direction is a first positioning direction;
a second adjusting module 230, configured to adjust the processing according to the determined direction until a second positioning direction is obtained.
In some embodiments, the first determining module 220 is configured to determine to continue adjusting in the counterclockwise direction until the second positioning direction is obtained if the first gain value is greater than the third synthesis gain value and the second gain value is less than or equal to the third synthesis gain value; under the condition that the second gain value is larger than the third synthesis gain value and the first gain value is smaller than or equal to the third synthesis gain value, the adjustment is determined to be continued in the clockwise direction until a second positioning direction is obtained; and under the condition that the first gain value and the second gain value are both larger than the third synthetic gain value, determining the first positioning direction as the second positioning direction.
Referring to fig. 6, in some embodiments, the two UWB antennas include a first UWB antenna and a second UWB antenna, and the first positioning information further includes a first positioning distance of the object to be positioned;
the acquisition unit 100 includes:
the acquiring module 110 is configured to acquire a distance value from the first UWB antenna to the object to be positioned for multiple times, and acquire a distance value from the second UWB antenna to the object to be positioned for multiple times;
a calculating module 120, configured to average the obtained multiple distance values to obtain a first distance value, and average the obtained multiple distance values to obtain a second distance value;
a second determining module 130, configured to determine the first position information according to the first distance value, the second distance value, and a phase center distance between the two UWB antennas, where the phase center distance between the two UWB antennas is a known value.
Wherein the detector and the target to be positioned are provided with timers, and the timer of the detector is used for acquiring T 1 And T 2 Timer for target to be located for T acquisition 11 And T 21 . The timer is cleaned after each timing so as to ensure the accuracy of each timing.
Referring to fig. 7, when a signal is transmitted through the antenna, the switch k of the bidirectional coupler is turned off and controls the charging circuit to charge the timing capacitor, the voltage across the capacitor is converted into a digital form through analog-to-digital conversion, and then the time value corresponding to the value is obtained through table lookup. When the timer needs to be cleared, the switch k of the bidirectional coupler is in a closed state.
In some embodiments, the preset angular magnitude is greater than 0 ° and less than 1 °.
The technical principle and the technical effect of the positioning device correspond to the positioning direction, and are not described herein again.
The utility model provides a UWB positioning system, including mainboard, detector and positioner, the detector is used for detecting the first position information of target to be positioned, and the detector includes two UWB antennas of interval connection in the mainboard.
In this embodiment, the detector is installed on the mainboard, and the detector includes two UWB antennas, and two UWB antennas interval connect in the mainboard.
It will be appreciated that the operating frequencies of the two UWB antennas are the same, so the operating wavelengths of the two UWB antennas are also the same.
The UWB antenna may be a dipole antenna, and the like, which is not limited in this application. The UWB antenna takes a symmetrical sub-antenna as an example, and the feed point of the UWB antenna is the phase center point, so that the phase center distance of the two UWB antennas can be rapidly and accurately acquired.
Wherein the phase center distance of two UWB antennas can be above or below half of the working wavelength of UWB antenna. As shown in fig. 6, the two UWB antennas are respectively disposed at two ends of the motherboard, so that the phase center distance between the two UWB antennas is 80mm, and the phase center distance is about twice of the operating wavelength of the UWB antennas when the operating frequency band is 7.9 GHz.
The phase center distance between the two UWB antennas is larger than or equal to half of the working wavelength of the UWB antennas, so that the isolation between the two UWB antennas is good, and the positioning resolution is improved.
In some embodiments of the present disclosure, a phase shifter is further included, and the phase shifter is configured to adjust a phase relationship between the two UWB antennas, and thus adjust the two UWB antennas in a minimum combined radiation direction.
It will be understood that any reference above to the orientation or positional relationship of the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., is based on the orientation or positional relationship shown in the drawings, which is done for convenience in describing the invention and to simplify the description, and is not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and is not to be construed as limiting the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means three or more unless otherwise specified.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention according to the present application is not limited to the specific combination of the above-mentioned features, but also covers other embodiments where any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (11)
1. A UWB positioning method comprising:
acquiring first position information of a target to be positioned, wherein the first position information comprises a first positioning direction of the target to be positioned;
adjusting the phase relationship of two UWB antennas to adjust the minimum composite radiation direction of the two UWB antennas to the first positioning direction;
adjusting in the first positioning direction according to a preset angle amplitude along clockwise and counterclockwise directions until a second positioning direction is obtained, wherein the second positioning direction represents a synthetic radiation direction when a synthetic gain value of the two UWB antennas reaches a first minimum gain value during adjustment processing;
determining the second positioning direction as a target positioning direction of the target to be positioned;
wherein, the adjusting process is carried out in the first positioning direction according to the preset angle amplitude along the clockwise direction and the anticlockwise direction until the second positioning direction is obtained, and the method comprises the following steps:
adjusting the current combined gain values representing the two UWB antennas to be a first gain value and a second gain value respectively clockwise and anticlockwise according to a preset angle amplitude in the first positioning direction;
determining a direction of subsequent adjustment processing according to a comparison result of the first gain value, the second gain value and a third gain value, wherein the third gain value is a combined gain value of the two UWB antennas when the minimum combined radiation direction is the first positioning direction;
and adjusting the processing according to the determined direction until a second positioning direction is obtained.
2. The method according to claim 1, wherein determining the direction of the subsequent adjustment process according to the comparison result of the first gain value, the second gain value and the third gain value comprises:
and under the condition that the first gain value is larger than the third gain value and the second gain value is smaller than or equal to the third gain value, determining to continue to adjust in the anticlockwise direction until the second positioning direction is obtained.
3. The method according to claim 1, wherein determining the direction of the subsequent adjustment process according to the comparison result of the first gain value, the second gain value and the third gain value comprises:
and under the condition that the second gain value is larger than the third gain value and the first gain value is smaller than or equal to the third gain value, determining to continue adjusting in the clockwise direction until the second positioning direction is obtained.
4. The method according to claim 1, wherein determining the direction of the subsequent adjustment process according to the comparison result of the first gain value, the second gain value and the third gain value comprises:
determining that the first positioning direction is the second positioning direction if both the first gain value and the second gain value are greater than the third gain value.
5. The positioning method according to claim 1, wherein the two UWB antennas include a first UWB antenna and a second UWB antenna, and the first position information further includes a first positioning distance of the object to be positioned;
the acquiring first position information of the target to be positioned includes:
obtaining distance values from the first UWB antenna to the target to be positioned for multiple times, and averaging the obtained multiple distance values to obtain a first distance value;
obtaining the distance value from the second UWB antenna to the target to be positioned for multiple times, and averaging the obtained multiple distance values to obtain a second distance value;
and determining the first position information according to the first distance value, the second distance value and the phase center distance between the two UWB antennas, wherein the phase center distance between the two UWB antennas is a known value.
6. The positioning method according to any one of claims 1 to 5, wherein the preset angular magnitude is greater than 0 ° and less than 1 °.
7. A positioning device, comprising:
the positioning device comprises an acquisition unit, a positioning unit and a positioning unit, wherein the acquisition unit is used for acquiring first position information of a target to be positioned, and the first position information comprises a first positioning direction of the target to be positioned;
the adjusting unit is used for adjusting the phase relationship of the two UWB antennas so as to adjust the minimum synthetic radiation direction of the two UWB antennas to the first positioning direction, and adjusting the minimum synthetic radiation direction of the two UWB antennas in the first positioning direction according to a preset angle amplitude along the clockwise direction and the anticlockwise direction until a second positioning direction is obtained, wherein the second positioning direction represents the synthetic radiation direction when the synthetic gain value of the two UWB antennas reaches the first minimum gain value during the adjustment processing period;
a determining unit, configured to determine that the second positioning direction is a target positioning direction of the target to be positioned;
wherein the adjusting unit includes:
the first adjusting module is used for adjusting once in the clockwise direction and the anticlockwise direction according to a preset angle amplitude in the first positioning direction respectively to obtain a first gain value and a second gain value representing the current synthetic gain value of the two UWB antennas;
a first determining module, configured to determine a direction of subsequent adjustment processing according to a comparison result of the first gain value, the second gain value, and a third gain value, where the third gain value is a synthesized gain value of the two UWB antennas when a minimum synthesized radiation direction is the first positioning direction;
and the second adjusting module is used for adjusting the processing according to the determined direction until a second positioning direction is obtained.
8. The positioning apparatus of claim 7, wherein the first determining module is configured to determine to continue to adjust in a counterclockwise direction until the second positioning direction is obtained if the first gain value is greater than the third gain value and the second gain value is less than or equal to the third gain value;
under the condition that the second gain value is larger than the third gain value and the first gain value is smaller than or equal to the third gain value, determining to continue adjusting in the clockwise direction until the second positioning direction is obtained;
determining that the first positioning direction is the second positioning direction if both the first gain value and the second gain value are greater than the third gain value.
9. A UWB positioning system comprising a main board, a detector and the positioning device of any of claims 7-8, wherein the detector is used for detecting first position information of an object to be positioned, and the detector comprises two UWB antennas which are connected to the main board at intervals.
10. The positioning system of claim 9, wherein the phase center distance between said two UWB antennas is greater than or equal to half the operating wavelength of said UWB antennas.
11. The positioning system of claim 10, further comprising a phase shifter for adjusting the phase relationship of the two UWB antennas.
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