CN114545327A - Motion state information and UWB fusion positioning method and positioning system - Google Patents
Motion state information and UWB fusion positioning method and positioning system Download PDFInfo
- Publication number
- CN114545327A CN114545327A CN202210120027.9A CN202210120027A CN114545327A CN 114545327 A CN114545327 A CN 114545327A CN 202210120027 A CN202210120027 A CN 202210120027A CN 114545327 A CN114545327 A CN 114545327A
- Authority
- CN
- China
- Prior art keywords
- positioning
- time difference
- arrival time
- state information
- motion state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000004927 fusion Effects 0.000 title claims abstract description 19
- 230000002159 abnormal effect Effects 0.000 claims abstract description 38
- 230000001133 acceleration Effects 0.000 claims abstract description 19
- 238000001914 filtration Methods 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 5
- 230000004807 localization Effects 0.000 claims 6
- 238000012937 correction Methods 0.000 abstract description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
-
- 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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- 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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention discloses a movement state information and UWB fusion positioning method and a positioning system, wherein two positioning labels are arranged on a device to be positioned, whether the arrival time difference of the positioning signals recorded by the positioning labels reaches the self is abnormal or not can be identified when the building environment of an area to be positioned is complex, and after the arrival time difference is judged to be abnormal and the abnormal arrival time difference is eliminated, the relation of position coordinates of the two positioning labels is further obtained through attitude angle information of the device to be positioned when the number of the available arrival time differences cannot meet the minimum positioning requirement, so that a hyperbolic equation is constructed by combining the available arrival time differences obtained by the two positioning labels, and the probability of successful positioning when the positioning signals are partially shielded is increased. In addition, the velocity and acceleration components of the device to be positioned, which are output by the IMU unit on the positioning label, can be used for performing Kalman filtering correction on positioning information obtained by the UWB system, so that the positioning precision is further improved.
Description
Technical Field
The invention relates to the field of wireless communication, in particular to a method and a system for fusion positioning of motion state information and UWB.
Background
With the rapid development of urban construction, the living standard of people is continuously improved, and more scenes are seen when people drive vehicles or walk to strange road sections and areas of cities, so that the frequency of navigating by using navigation equipment is increased day by day. In the conventional Navigation device, whether the Navigation device is a car Navigation device or a terminal Navigation device such as a mobile phone, positioning is realized based on gnss (global Navigation Satellite system) Satellite signals, for example, american GPS Satellite signals, russian GLONASS Satellite signals, european union GALILEO Satellite signals, and chinese beidou Satellite signals. However, in environments such as indoors, dense urban buildings, tunnels, under-viaducts, and underground parking lots, the received GNSS satellite signals may be very weak or even impossible. At this time, the navigation device cannot utilize GNSS satellite signals to realize navigation and positioning, which brings great inconvenience to the user.
UWB (Ultra wide band) is a carrier-free communication technology that uses non-sinusoidal narrow pulses on the nanosecond to picosecond level to transmit data. The UWB has the advantages of narrow pulse width, strong anti-interference performance, high transmission rate, extremely wide bandwidth, low power consumption, low transmitting power and the like, and a positioning system using the UWB signals as positioning signals can make up for the area which cannot be covered by the sky satellite. The method is a commonly used means in the field, and comprises the steps of erecting a UWB positioning base station in an area with poor GNSS positioning quality, additionally arranging a positioning terminal which interacts with the UWB positioning base station on a device to be positioned, and further utilizing a TDOA (Time Difference of Arrival) positioning algorithm to calculate the position information of the device to be positioned. When the TDOA positioning algorithm is used for resolving the position information of the device to be positioned, at least three positioning base stations are needed to interact with the device to be positioned to record the arrival time difference of the positioning signals, however, due to the fact that the environment of the area to be positioned is complex, when the positioning terminal moves to the coverage blind area of part of the positioning base stations, the number of the positioning base stations generating the arrival time difference is insufficient, the positioning result is greatly influenced.
In the prior art, an Inertial Measurement Unit (IMU) for acquiring motion state information of a device to be positioned is added to modify a UWB positioning result. When the IMU information is used for correcting the UWB positioning result, the method comprises a loose coupling mode, namely, a UWB positioning system and an IMU system are used as two independent systems, and the positioning of the UWB positioning system and the IMU system is finished under the condition of mutual noninterference, so that on one hand, the UWB positioning system can calculate the position information of a device to be positioned according to each TDOA value; on the other hand, the IMU system can realize the positioning of the device to be positioned according to the initial position of the device to be positioned and the speed and acceleration components of the device to be positioned, which are acquired in the whole positioning process. And fusing the positioning results output by the two methods by using a Kalman filtering algorithm to obtain a corrected value of the position information. However, when the UWB positioning system cannot calculate the position information of the device to be positioned because a sufficient number of TDOA values cannot be obtained, the positioning result of the IMU system is used only, and the velocity and acceleration components obtained by the IMU may have errors, and such errors may accumulate continuously in the whole positioning process, which seriously affects the positioning accuracy.
When the IMU information is used for correcting the UWB positioning result, the method also comprises a tight coupling mode, compared with the loose coupling mode, the tight coupling mode is to fuse the original output data of the UWB positioning system and the IMU system, namely the UWB positioning system does not calculate the position information of the device to be positioned, only outputs the TDOA value, and then fuses the TDOA value with the positioning result of the IMU system. However, a certain positioning signal in the UWB positioning system is affected by multipath or other interference signals, which causes some TDOA values to have long-term abnormalities, and the system cannot know the abnormalities, which also has a great influence on the positioning result.
Therefore, how to provide a high-precision and high-stability motion state information and UWB fusion positioning method becomes a technical problem to be solved in the field.
Disclosure of Invention
According to one aspect of the invention, a method for fusion positioning of motion state information and UWB is disclosed, which comprises the following steps: the method comprises the steps that a first positioning label and a second positioning label which are arranged on a device to be positioned receive UWB positioning signals sent by a plurality of positioning base stations, and the first positioning label and the second positioning label respectively record the arrival time difference of the positioning signals sent by the plurality of positioning base stations; estimating or acquiring motion state information of a device to be positioned, wherein the motion state information comprises attitude angle information of the device to be positioned; judging whether the arrival time difference value of the positioning signal recorded by the first positioning label reaches the self is abnormal or not according to the historical positioning data and the motion state information of the device to be positioned, judging whether the arrival time difference value of the positioning signal recorded by the second positioning label reaches the self is abnormal or not, and rejecting the abnormal arrival time difference value when the arrival time difference value is judged to be abnormal; and judging whether the number of the available arrival time difference values recorded by the first positioning label and the second positioning label meets the lowest positioning requirement or not after the abnormal arrival time difference values are eliminated, if so, calculating the position information of the positioning labels by using a TDOA positioning algorithm, and if not, calculating the position information of the positioning labels by using the attitude angle information and the available arrival time difference values of the device to be positioned.
According to one aspect of the invention, a positioning system for executing a motion state information and UWB fusion positioning method is disclosed, the positioning system comprises a plurality of positioning base stations with known positions and one or more devices to be positioned, the devices to be positioned comprise a first positioning label and a second positioning label, the first positioning label and the second positioning label have known relative position relation with the devices to be positioned, wherein the first positioning label and the second positioning label arranged on the devices to be positioned receive UWB positioning signals sent by the plurality of positioning base stations, and the first positioning label and the second positioning label respectively record arrival time difference values of the UWB positioning signals sent by the plurality of positioning base stations; the positioning system estimates or acquires the motion state information of the device to be positioned, wherein the motion state information comprises the attitude angle information of the device to be positioned; the positioning system judges whether the arrival time difference value of the positioning signal recorded by the first positioning label reaches the self-body is abnormal or not according to the historical positioning data and the motion state information of the device to be positioned, judges whether the arrival time difference value of the positioning signal recorded by the second positioning label reaches the self-body is abnormal or not, and rejects the abnormal arrival time difference value when the arrival time difference value is judged to be abnormal; and judging whether the number of the available arrival time difference values recorded by the first positioning label and the second positioning label meets the lowest positioning requirement or not after the abnormal arrival time difference values are eliminated, if so, calculating the position information of the positioning labels by using a TDOA positioning algorithm, and if not, calculating the position information of the positioning labels by using the attitude angle information and the available arrival time difference values of the device to be positioned.
The invention discloses a movement state information and UWB fusion positioning method and a positioning system, wherein two positioning labels are arranged on a device to be positioned, whether the arrival time difference of the positioning signals recorded by the positioning labels reaches the self is abnormal or not can be identified when the building environment of an area to be positioned is complex, and after the arrival time difference is judged to be abnormal and the abnormal arrival time difference is eliminated, the relation of position coordinates of the two positioning labels is further obtained through attitude angle information of the device to be positioned when the number of the available arrival time differences cannot meet the minimum positioning requirement, so that a hyperbolic equation is constructed by combining the available arrival time differences obtained by the two positioning labels, and the probability of successful positioning when the positioning signals are partially shielded is increased. In addition, the velocity and acceleration components of the device to be positioned, which are output by the IMU unit on the positioning label, can also be used for performing Kalman filtering correction on positioning information obtained by the UWB system, so that the positioning precision is further improved.
Drawings
FIG. 1 is a schematic diagram of a kinematic state information and UWB fusion positioning system 100 according to one embodiment of the present invention;
fig. 2 is a flow diagram of a method 200 for hybrid location of motion state information and UWB, in accordance with an embodiment of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order to avoid obscuring the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example" or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. It will be understood that when an element is referred to as being "connected" or "connected" to another element, it can be directly connected or connected to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected to" or "directly connected to" another element, there are no intervening elements present. Like reference numerals refer to like elements. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
FIG. 1 presents a schematic diagram of an IMU and UWB fusion location system 100 in accordance with an embodiment of the present invention. The IMU and UWB converged positioning system 100 comprises n positioning base stations BS1-BSn, which are erected in areas of poor GNSS positioning quality, and one or more devices to be positioned MS. In one embodiment, n is an integer greater than or equal to 3, and the n positioning base stations have known positions. In the embodiment shown in fig. 1, the positioning system 100 is illustrated as including 4 positioning base stations BS1-BS4 and one device to be positioned MS, specifically, the device to be positioned MS is a vehicle. In other embodiments, the type of the device MS to be positioned may be set according to the positioning needs of the positioning system. In the embodiment shown in fig. 1, two or more positioning tags 1 and tag2 are provided on the device MS to be positioned, and the positioning tags 1 and 2 have known relative position relationships with the device MS to be positioned, so that the positions of the positioning tags 1 and tag2 are known, and the positioning of the device MS to be positioned can be realized.
Positioning base stations BS1-BS4 transmit positioning signals S1-S4 to positioning tags tag1 and tag2, which positioning tags tag1 and tag2 receive. In one embodiment, the positioning signal is a UWB positioning signal. The positioning system 100 records the Time information of transmitting and/or receiving the positioning signal, and uses the position information of the positioning base station BS and the Time information of transmitting and/or receiving the positioning signal to solve the position information of the positioning tags tag1 and tag2 by using a TDOA (Time Difference of Arrival) positioning algorithm, thereby realizing the positioning of the device to be positioned MS.
The areas with poor GNSS positioning quality comprise areas which cannot receive GNSS signals or receive weak GNSS signals, such as urban building dense areas, tunnels, overhead areas, underground parking lots, indoor areas and the like. The building environment of the area is complex, and a part of positioning signals transmitted by the positioning base station can be shielded by obstacles and cannot be received by the positioning tags, or the positioning signals received by the positioning tags do not reach the direct path but reach the positioning base station through the reflection of other obstacles. As in the embodiment shown in fig. 1, the direct paths of positioning signals S3 and S4 transmitted by positioning base stations BS3 and BS4 cannot be received by positioning tag1, while the indirect path of positioning signal S3 reflected by an obstacle can be received by positioning tag1 via S3'; positioning signals S1 and S2 transmitted by positioning base station BS1 and positioning base station BS2 cannot be received by positioning tag 2.
As known to those skilled in the art, when implementing two-dimensional positioning by using a TDOA positioning algorithm, if the position of the positioning tag to be obtained contains two unknown quantities, at least three positioning base stations are required to obtain two unrelated TDOA values, and then two unrelated hyperbolic equations are obtained. Taking the example where location tag1 receives location signals transmitted by location base stations BS1, BS2, and BS3, location tag1 may obtain time difference of arrival TDOA21-1 for location signals transmitted by location base stations BS1 and BS2, and time difference of arrival TDOA31-1 for location signals transmitted by location base stations BS1 and BS 3. The time difference of arrival TDOA32-1 of the positioning signals transmitted by the positioning base stations BS2 and BS3 can be obtained by subtracting the time difference of arrival TDOA21-1 and TDOA31-1, and cannot bring additional information, and the effect of TDOA32-1 is not considered for the moment.
In one embodiment, the positioning base stations transmitting the positioning signals are timing synchronized. In one embodiment, the positioning base stations transmit positioning signals simultaneously. In yet another embodiment, each positioning base station transmits positioning signals according to a known timing relationship. Those skilled in the art can compensate the time difference of arrival information to a TDOA value that contains only the difference in the distance of the location tag to two location sites using known timing relationships. For ease of illustration, the following derivation is based on the case where the positioning base stations simultaneously transmit positioning signals. At this time, the following hyperbolic equation can be obtained:
wherein c is the propagation velocity of the positioning signal in the space, (X1, Y1), (X2, Y2), (X3, Y3) are the coordinate values of positioning base stations BS1, BS2 and BS3, respectively. (x1, y1) is the coordinate value of the tag1 to be acquired. However, because the positioning signal transmitted by positioning basestation BS3 received by positioning tag1 does not travel directly, time difference of arrival TDOA31-1 associated with the positioning signal transmitted by positioning basestation BS3 does not characterize the difference between positioning tag1 and positioning basestations 1 and BS2, and therefore the hyperbolic equation established by time difference of arrival TDOA31-1 is incorrect and does not allow the true coordinates of positioning tag1 to be extracted. However, the positioning system cannot know that the positioning signal transmitted by the positioning base station BS3 and received by the positioning tag1 does not directly pass through the information, which causes an abnormality in positioning the positioning tag1, and even if the positioning system subsequently corrects the position information by combining with the kalman filtering correction algorithm, the kalman filtering correction effect is distorted due to the fact that an incorrect arrival time difference is input for a long time.
However, for location tag2, since it only receives the location signals transmitted by location BSs 3 and BS4, but cannot receive the location signals received by location BSs 1 and BS2, it cannot acquire only one time difference of arrival TDOA43-2 to construct a sufficient number of hyperbolic equations, and cannot implement position solution.
In order to solve the problem that the position information cannot be solved or is abnormal due to the fact that the part of the positioning signal is shielded or the received positioning signal cannot be identified due to the fact that the positioning signal is not in a direct path, the invention provides a method for fusing and positioning the motion state information and the UWB.
In one embodiment, an inertial measurement unit IMU is provided on the device MS to be positioned, and is used to measure motion state information such as acceleration, angular velocity, and attitude angle of the object. In one embodiment, one or more of a speedometer, accelerometer, three-axis gyroscope, and magnetometer are contained within the IMU in three directions.
In another embodiment, the device MS to be positioned is a vehicle, the vehicle is integrated with a motion state detection device, and the positioning tag further includes a CAN interface and/or a uart serial port interacting with a vehicle control system to obtain motion information such as speed, acceleration, attitude angle and the like from the vehicle control system, and/or transmit positioning information to the vehicle control system, so that the vehicle control system displays position information to a user through a display screen.
In yet another embodiment, historical positioning data of the device to be positioned is used to estimate current motion state information of the device to be positioned. In one embodiment, the current velocity and acceleration components of the device to be positioned are estimated using a Kalman filtering algorithm.
In order to explain the motion state information and UWB fusion positioning method more intuitively, the geometric relationship between the devices to be positioned MS and the positioning tags tag1 and tag2 is described first with reference to fig. 1. As shown in fig. 1, the device MS to be positioned is a vehicle, positioning tags 1 and tag2 are disposed at the same height above the device MS to be positioned, a connecting line between positioning tags 1 and tag2 is parallel to the traveling direction of the vehicle, and the distance between positioning tags 1 and tag2 is known and denoted as d. The spatial coordinate system of the area to be located is oxyz, which is denoted as a positioning coordinate system, and the coordinates of the positioning base station and the coordinates (x1, y1) and (x2, y2) of the positioning tags tag1 and tag2 to be solved are based on the positioning coordinate system.
In one embodiment, the attitude angle information of the device to be positioned MS comprises three axis attitude angles. In one implementation, the three-axis attitude angle of the device to be positioned MS may be obtained by the IMU according to the initial attitude of the device to be positioned MS and the accumulated value of the motion state information obtained during the motion process.
In yet another implementation, the three-axis attitude angles of the device to be positioned MS may be obtained from historical positioning data of the device to be positioned MS.
For convenience of describing the motion state information and the UWB fusion positioning method, a horizontal attitude angle of three-axis attitude angles is taken as an example for explanation. The included angle between the connecting line of the positioning tags tag1 and tag2 and the positive direction of the y axis is marked as theta, and the included angle theta between the connecting line of the positioning tags tag1 and tag2 and the positive direction of the y axis is defined as the horizontal attitude angle of the device to be positioned MS.
In another embodiment, the motion state information provided by the IMU is based on a carrier coordinate system, where the carrier coordinate system uses the center of gravity of the carrier as the origin of coordinates, and uses a natural direction in space, such as the north direction as the X axis, and the direction perpendicular to the horizontal direction as the Y axis, and further needs to perform a conversion from the carrier coordinate system to a positioning coordinate system.
Fig. 2 presents a flow diagram of a method 200 for hybrid motion state information and UWB positioning in accordance with an embodiment of the present invention. The method 200 for positioning the motion state information and UWB fusion comprises the following steps:
step 201: a first positioning label and a second positioning label which are arranged on a device to be positioned receive UWB positioning signals sent by a plurality of positioning base stations, and the first positioning label and the second positioning label respectively record the arrival time difference of the positioning signals sent by the plurality of positioning base stations;
step 202: estimating or acquiring motion state information of a device to be positioned, wherein the motion state information comprises attitude angle information of the device to be positioned;
in one embodiment, the estimating the motion state information of the device to be positioned includes estimating the current motion state information of the device to be positioned by using historical positioning data of the device to be positioned. In yet another embodiment, the current velocity and acceleration components of the device to be positioned are estimated using a Kalman filtering algorithm.
In one embodiment, the acquiring the motion state information of the device to be positioned includes acquiring a current velocity and acceleration component of the device to be positioned by using an inertial measurement unit IMU.
In yet another embodiment, the motion state information further comprises one or more of a velocity, an acceleration, and an angular velocity of the device to be positioned.
In another embodiment, the IMU obtains the position information of the device to be positioned according to the initial position of the device to be positioned and the velocity and acceleration components of the device to be positioned, which are obtained in the whole positioning process.
Step 203: judging whether the arrival time difference value of the positioning signal recorded by the first positioning label reaches the self is abnormal or not according to the historical positioning data and the motion state information of the device to be positioned, judging whether the arrival time difference value of the positioning signal recorded by the second positioning label reaches the self is abnormal or not, and rejecting the abnormal arrival time difference value when the arrival time difference value is judged to be abnormal;
in one embodiment, a current position estimated value of a positioning tag is obtained according to position information of the positioning tag calculated by a positioning system at the previous time and speed and acceleration information of a device to be positioned, an arrival time difference estimated value is reversely deduced according to the position information of a positioning base station, and when a difference value between the measured arrival time difference value and the arrival time difference estimated value is greater than a preset threshold, it is determined that the measured arrival time difference value is abnormal.
Step 204: judging whether the number of the available arrival time difference values recorded by the first positioning label and the second positioning label meets the lowest positioning requirement after eliminating the abnormal arrival time difference values, if so, executing a step 205, and if not, executing a step 206;
in one embodiment, when the positioning tag is positioned in two dimensions, the number of the available arrival time difference values is not less than two, that is, the lowest positioning requirement is met.
Step 206: calculating the position information of the positioning tag by using the attitude angle information of the device to be positioned and the available arrival time difference;
in one embodiment, the method further comprises step 207: and correcting the position information of the positioning label based on the TDOA positioning algorithm or based on the attitude angle information of the device to be positioned and the available arrival time difference value by utilizing the motion state information based on the Kalman filtering algorithm.
In the embodiment shown in fig. 1, the positioning system has determined, by the foregoing method, that the positioning signal transmitted by positioning base station BS3 received by positioning tag1 does not reach the right way, and has rejected the difference TDOA31-1 between the arrival times of the positioning signals transmitted by positioning base stations BS1 and BS3 at positioning tag 1. The time difference of arrival available in the location system includes the time difference of arrival TDOA21-1 of the location signals transmitted by location basestations BS1 and BS2 as recorded by location tag1, and the time difference of arrival TDOA43-2 of the location signals transmitted by location basestations BS3 and BS4 as recorded by location tag 2. At this time, the following hyperbolic equation can be obtained:
wherein c is the propagation velocity of the positioning signal in the space, (X1, Y1), (X2, Y2), (X3, Y3), (X3, Y3), (X4, Y4) are the coordinate values of positioning base stations BS1, BS2, BS3, BS4, respectively. (x1, y1) and (x2, y2) are coordinate values of tag1 and tag2 to be acquired. Since the number of the hyperbolic equations is smaller than the number of the unknowns required, the coordinate values of the positioning tags tag1 and tag2 cannot be solved at this time. The invention introduces a horizontal attitude angle theta of a device to be positioned, namely a positive included angle between a connecting line of positioning labels tag1 and tag2 and a y axis, and constructs the following relation between (x1, y1) and (x2, y 2):
x2＝x1+d×sinθ；
y2＝y1+d×cosθ；
where d is the known distance between location tags tag1 and tag 2. Substituting the above equation into a hyperbolic equation yields the following equation:
in this case, since the number of hyperbolic equations is equal to the number of unknowns required, the coordinate values of the positioning tags tag1 and tag2 can be solved.
In yet another embodiment, the method further comprises step 207: and correcting the position information of the positioning label calculated based on the TDOA positioning algorithm and the hyperbolic equation solution by utilizing the velocity and acceleration components of the device to be positioned, which are obtained by the IMU, based on the Kalman filtering algorithm.
In one embodiment, the partial observation vector Z output by the UWB positioning system1＝[x y]TThe position coordinates of the device to be positioned, which are solved by the UWB positioning system based on the hyperbolic equation, and a part of observation vector Z output by the IMU system2＝[vx vyax ay]TIs the velocity component and the acceleration component of the device to be positioned under the positioning coordinate system. Observation vector Z ═ Z of Kalman filter1 Z2]T。
The state equation and the observation equation of the kalman filter are expressed as follows, respectively:
Xk＝Fk,k-1Xk-1+Γk,k-1Wk-1
Zk＝CkXk+Vk
wherein the state vector Xk＝[xk yk vxk vyk axk ayk]TThe expression of the state transition matrix is as follows:
system state noise vector Wk-1＝[δvx,k-1 δvy,k-1 δax,k-1 δay,k-1]TThe state noise input matrix expression is as follows:
where T represents a positioning period. Observation matrix Ck＝I6×6。
And taking the speed and the acceleration in the measured value estimated value obtained after Kalman filtering as final output in the IMU system. When the IMU system is used for positioning, the initial value of the position information of the target to be positioned at the initial positioning moment is given by the measurement value of the UWB positioning system. The positioning result of the IMU system at the moment k is as follows:
wherein the content of the first and second substances,
and the velocity and acceleration components in the positioning coordinate system after Kalman filtering estimation are obtained.
The invention discloses a movement state information and UWB fusion positioning method and a positioning system, wherein two positioning labels are arranged on a device to be positioned, whether the arrival time difference of the positioning signals recorded by the positioning labels reaches the self is abnormal or not can be identified when the building environment of an area to be positioned is complex, and after the arrival time difference is judged to be abnormal and the abnormal arrival time difference is eliminated, the relation of position coordinates of the two positioning labels is further obtained through attitude angle information of the device to be positioned when the number of the available arrival time differences cannot meet the minimum positioning requirement, so that a hyperbolic equation is constructed by combining the available arrival time differences obtained by the two positioning labels, and the probability of successful positioning when the positioning signals are partially shielded is increased. In addition, the velocity and acceleration components of the device to be positioned, which are output by the IMU unit on the positioning label, can be used for performing Kalman filtering correction on positioning information obtained by the UWB system, so that the positioning precision is further improved.
As noted above, while the preferred embodiments of the invention have been illustrated and described, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiments. Rather, the invention should be determined entirely by reference to the claims that follow.
Claims (11)
1. A motion state information and UWB fusion positioning method comprises the following steps:
a first positioning label and a second positioning label which are arranged on a device to be positioned receive UWB positioning signals sent by a plurality of positioning base stations, and the first positioning label and the second positioning label respectively record the arrival time difference of the positioning signals sent by the plurality of positioning base stations;
estimating or acquiring motion state information of a device to be positioned, wherein the motion state information comprises attitude angle information of the device to be positioned;
judging whether the arrival time difference value of the positioning signal recorded by the first positioning label reaches the self is abnormal or not according to the historical positioning data and the motion state information of the device to be positioned, judging whether the arrival time difference value of the positioning signal recorded by the second positioning label reaches the self is abnormal or not, and rejecting the abnormal arrival time difference value when the arrival time difference value is judged to be abnormal;
and judging whether the number of the available arrival time difference values recorded by the first positioning label and the second positioning label meets the lowest positioning requirement or not after the abnormal arrival time difference values are eliminated, if so, calculating the position information of the positioning labels by using a TDOA positioning algorithm, and if not, calculating the position information of the positioning labels by using the attitude angle information and the available arrival time difference values of the device to be positioned.
2. The method according to claim 1, wherein the determining whether the difference between the arrival times of the positioning signals recorded by the positioning tag is abnormal further comprises obtaining an estimated value of the current position of the positioning tag according to the position information of the positioning tag calculated by the positioning system last time and the motion state information of the device to be positioned, and reversely deducing the estimated value of the difference between the arrival times of the positioning signals according to the position information of the positioning base station, and determining that the difference between the arrival times of the positioning signals recorded by the positioning system and the estimated value of the difference between the arrival times of the positioning signals recorded by the positioning system is abnormal when the difference is greater than a preset threshold.
3. The method of claim 1, wherein estimating the motion state information of the device to be positioned comprises estimating the current motion state information of the device to be positioned using historical positioning data of the device to be positioned.
4. The method for fusion localization of motion state information and UWB according to claim 3, wherein estimating the current motion state information of the device to be localized using historical localization data of the device to be localized comprises estimating the current velocity and acceleration components of the device to be localized using kalman filtering.
5. The method of claim 1, wherein the obtaining motion state information of the device to be positioned comprises obtaining a current velocity and acceleration component of the device to be positioned using an Inertial Measurement Unit (IMU).
6. The method according to claim 1, wherein the number of the available time difference values is not less than two when the positioning tag is positioned in two dimensions, so as to meet the minimum positioning requirement.
7. The method of claim 1, further comprising using the kinematic state information to modify a TDOA-based location algorithm or a position information of a location tag based on attitude angle information of a device to be located and available time difference of arrival solution based on a kalman filtering algorithm.
8. The method for fusion localization of motion state information and UWB according to claim 1, wherein the pose angle information of the device to be localized includes a horizontal pose angle θ of the device to be localized, and the horizontal pose angle θ is an angle between a line connecting the first localization tag and the second localization tag and a positive direction of a y-axis of the localization coordinate system.
9. The method of claim 8, wherein the calculating the position information of the position tag using the attitude angle information of the device to be positioned and the available time difference of arrival comprises,
by utilizing the horizontal attitude angle theta of the device to be positioned and the difference value of the available arrival time, the following hyperbolic equation is constructed,
where c is the propagation speed of the positioning signal in space, d is the known distance between the first positioning tag and the second positioning tag, (X1, Y1), (X2, Y2), (X3, Y3), (X3, Y3), (X4, Y4) are the coordinate values of the first to fourth positioning base stations, respectively, (X1, Y1) are the coordinate values of the first positioning tag, TDOA21-1 is the arrival time difference of the positioning signal transmitted by the first and second positioning base stations recorded by the first positioning tag, and TDOA43-2 is the arrival time difference of the positioning signal transmitted by the third and fourth positioning base stations recorded by the second positioning tag.
10. The motion state information and UWB fusion locating method according to claim 9, wherein the coordinate values (x1, y1) of the first location tag are solved using a hyperbolic equation, and the coordinate values (x2, y2) of the second location tag are obtained using the coordinate values of the first location tag, wherein x2 is x1+ d x sin θ, and y2 is y1+ d x cos θ.
11. A positioning system for executing the method of fusion positioning of motion state information and UWB according to claim 1, the positioning system includes a plurality of positioning base stations with known positions, and one or more devices to be positioned, the devices to be positioned include a first positioning tag and a second positioning tag, the first positioning tag and the second positioning tag have known relative position relationship with the devices to be positioned, wherein,
a first positioning label and a second positioning label which are arranged on a device to be positioned receive UWB positioning signals sent by a plurality of positioning base stations, and the first positioning label and the second positioning label respectively record the arrival time difference of the positioning signals sent by the plurality of positioning base stations;
the positioning system estimates or acquires the motion state information of the device to be positioned, wherein the motion state information comprises the attitude angle information of the device to be positioned;
the positioning system judges whether the arrival time difference value of the positioning signal recorded by the first positioning label reaches the self-body is abnormal or not according to the historical positioning data and the motion state information of the device to be positioned, judges whether the arrival time difference value of the positioning signal recorded by the second positioning label reaches the self-body is abnormal or not, and rejects the abnormal arrival time difference value when the arrival time difference value is judged to be abnormal;
and judging whether the number of the available arrival time difference values recorded by the first positioning label and the second positioning label meets the lowest positioning requirement after eliminating the abnormal arrival time difference values, if so, resolving the position information of the positioning labels by using a TDOA (time difference of arrival) positioning algorithm, and if not, resolving the position information of the positioning labels by using the attitude angle information and the available arrival time difference values of the device to be positioned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210120027.9A CN114545327A (en) | 2022-02-07 | 2022-02-07 | Motion state information and UWB fusion positioning method and positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210120027.9A CN114545327A (en) | 2022-02-07 | 2022-02-07 | Motion state information and UWB fusion positioning method and positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114545327A true CN114545327A (en) | 2022-05-27 |
Family
ID=81673350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210120027.9A Pending CN114545327A (en) | 2022-02-07 | 2022-02-07 | Motion state information and UWB fusion positioning method and positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114545327A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115494487A (en) * | 2022-11-18 | 2022-12-20 | 成都太阳神鸟智能控制有限公司 | Wireless positioning and ranging method |
| CN115844381A (en) * | 2022-12-05 | 2023-03-28 | 立讯精密科技(南京)有限公司 | Human body action recognition method and device, electronic equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010084621A1 (en) * | 2009-01-26 | 2010-07-29 | 株式会社日立製作所 | Positioning system, positioning method, and server |
| JP2012002734A (en) * | 2010-06-18 | 2012-01-05 | Kddi Corp | Position detecting device, method, and program |
| CN106471390A (en) * | 2014-06-05 | 2017-03-01 | Zih公司 | For the system of variable bit rate ultra-wideband communications, apparatus and method |
| KR20180042546A (en) * | 2016-10-18 | 2018-04-26 | 조선대학교산학협력단 | Hybrid indoor positioning system and method thereof |
| CN113324544A (en) * | 2021-04-19 | 2021-08-31 | 北京化工大学 | Indoor mobile robot co-location method based on UWB/IMU (ultra wide band/inertial measurement unit) of graph optimization |
| CN113900061A (en) * | 2021-05-31 | 2022-01-07 | 深圳市易艾得尔智慧科技有限公司 | Navigation positioning system and method based on UWB wireless positioning and IMU fusion |
-
2022
- 2022-02-07 CN CN202210120027.9A patent/CN114545327A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010084621A1 (en) * | 2009-01-26 | 2010-07-29 | 株式会社日立製作所 | Positioning system, positioning method, and server |
| JP2012002734A (en) * | 2010-06-18 | 2012-01-05 | Kddi Corp | Position detecting device, method, and program |
| CN106471390A (en) * | 2014-06-05 | 2017-03-01 | Zih公司 | For the system of variable bit rate ultra-wideband communications, apparatus and method |
| KR20180042546A (en) * | 2016-10-18 | 2018-04-26 | 조선대학교산학협력단 | Hybrid indoor positioning system and method thereof |
| CN113324544A (en) * | 2021-04-19 | 2021-08-31 | 北京化工大学 | Indoor mobile robot co-location method based on UWB/IMU (ultra wide band/inertial measurement unit) of graph optimization |
| CN113900061A (en) * | 2021-05-31 | 2022-01-07 | 深圳市易艾得尔智慧科技有限公司 | Navigation positioning system and method based on UWB wireless positioning and IMU fusion |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115494487A (en) * | 2022-11-18 | 2022-12-20 | 成都太阳神鸟智能控制有限公司 | Wireless positioning and ranging method |
| CN115844381A (en) * | 2022-12-05 | 2023-03-28 | 立讯精密科技(南京)有限公司 | Human body action recognition method and device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2010304861B2 (en) | Improvements in or relating to radio navigation | |
| CN109931927B (en) | Track recording method, indoor map drawing method, device, equipment and system | |
| CN116086448B (en) | UWB, IMU, GNSS fusion-based multi-scene seamless positioning method for unmanned equipment | |
| Kloeden et al. | Vehicle localization using cooperative RF-based landmarks | |
| CN114545327A (en) | Motion state information and UWB fusion positioning method and positioning system | |
| Zwirello et al. | Sensor data fusion in UWB-supported inertial navigation systems for indoor navigation | |
| US7298323B2 (en) | Apparatus and method for locating user equipment using global positioning system and dead reckoning | |
| CN105357754B (en) | A kind of mobile node combined positioning method based on wireless network | |
| Cristodaro et al. | GNSS receiver performance in urban environment: Challenges and test approaches for automotive applications | |
| Hartmann et al. | Design of an embedded UWB hardware platform for navigation in GPS denied environments | |
| CN115657101B (en) | Method for assisting GNSS-INS (Global navigation satellite System-inertial navigation System) high-precision navigation positioning by using fisheye camera | |
| Kealy et al. | Collaborative navigation with ground vehicles and personal navigators | |
| CN104697536A (en) | Vehicle positioning method and apparatus | |
| Ghanem et al. | Testing vehicle-to-vehicle relative position and attitude estimation using multiple UWB ranging | |
| CN115793007A (en) | Multi-source fusion positioning method and device applied to navigation service | |
| Yu et al. | Multi-source fusion positioning algorithm based on pseudo-satellite for indoor narrow and long areas | |
| US20100090893A1 (en) | User based positioning aiding network by mobile GPS station/receiver | |
| JP7392839B2 (en) | Measuring device, measuring method, and program | |
| Sang et al. | Bidirectional UWB Localization: A Review on an Elastic Positioning Scheme for GNSS-deprived Zones | |
| CN114216457A (en) | Multi-source data fusion positioning method and system based on ultra-wideband signals | |
| Li et al. | Performance Analysis of Collaborative Positioning Method in Automated Car Driving. | |
| Pudlovskiy et al. | Joint processing of GNSS and UWB signals for seamless navigation in urban environments | |
| Liu et al. | Radio-based vehicle dynamic tracking in GNSS degraded environments | |
| Tsaregorodtsev et al. | Integration of GNSS with non-radio sensors with separation of the state vector for transport navigation tasks | |
| CN110632630A (en) | Vehicle-mounted GNSS signal compensation device, positioning system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |