CN114584919B - UWB indoor positioning system using interpolation method - Google Patents
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Abstract
The invention discloses a UWB indoor positioning system using interpolation method, which is characterized in that a plurality of master-slave base stations, a switch, a positioning label, a background server and a data processing terminal are utilized to construct a high-precision ultra-wideband indoor positioning system. And calculating TDOA pseudo-ranges of the positioning labels reaching each group of master-slave base stations through SYNC packets and TAG positioning packets collected by each base station, modeling the TDOA pseudo-range errors and grid point position information acquired in advance by utilizing trend surface analysis aiming at the main error sources as multipath errors, storing fitting parameters of multipath error compensation in a background server in combination with the position information, and iteratively solving the accurate position information of the positioning labels in combination with an improved Taylor calculation algorithm during positioning. Compared with the prior art, the method has higher robustness and positioning accuracy, does not need to additionally lay a large number of hardware equipment, is easy to popularize, and has great advantages and commercial prospects in indoor positioning application scenes with complex environments.
Description
Technical Field
The invention relates to the technical field of high-precision indoor positioning navigation, in particular to a UWB indoor positioning system using an interpolation method.
Background
Today, the technology rapidly develops, and various fields show a vigorous development trend, and mobile communication is from 4G to 5G and even 6G, so that intelligent tools such as intelligent robots, unmanned vehicles and the like are popularized, and colors are added to the life of people. The "location" as a class of services is also beginning to be incorporated into people's life, which has prompted the creation of many location-dependent services, such as GPS positioning-based related services including outdoor driving navigation, indoor mall queries, etc., involving corner falls in life, touching aspects of life, without utilizing positioning technology. Under the strong demands of the promotion and life of positioning technology, the construction of a complete and accurate indoor positioning system is urgent, and the indoor positioning system becomes a research hotspot of modern students. There are many reasons for impeding the rapid development of indoor positioning, mainly because the indoor environment is different from the outdoor environment, the indoor arrangement is complex, the signal transmission is hindered by furniture, walls, various decorations, the signal is refracted, reflected and even buried, etc., and the various physical properties of the transmitted signal are severely lost. Therefore, it is necessary to solve the problems of inaccurate or even impossible indoor positioning due to complicated indoor arrangement. The existing indoor positioning technology based on Bluetooth, wiFi, inertial navigation and the like is widely applied to indoor positioning, but the positioning accuracy is not very high. The Ultra Wide Band (UWB) positioning technology has a bandwidth up to several hundred megahertz, and by virtue of its Ultra-strong wall-penetrating capability, anti-interference capability, multi-path resolution capability and the like, the Ultra-Wide Band (UWB) positioning technology stands out from a plurality of wireless positioning technologies, and becomes a technology with relatively competitive indoor positioning.
In the field of high-precision indoor positioning, the intensity attenuation positioning and the autonomous positioning meet the bottleneck in meter-level precision, and are difficult to break through. The uncertainty of the intensity decay and the experience relation between the distance and the uncertainty is easily influenced by indoor environment, and the nonlinear increase of the error accumulation caused by the time integration of the autonomous positioning is one of main reasons for bottleneck, which is the weakness of the positioning technology. The intensive research on the indoor positioning technology based on the signal arrival time can also provide support for breaking through the bottleneck of a single technology, but due to the influence of multipath factors in the indoor environment, the time-based positioning method has errors caused by multipath problems, and in the existing time-based indoor positioning technology, the suppression of multipath errors is always placed on an important position. According to the time and space repeatability of the constant environment multipath, the observation value is optimized through modeling of priori data so as to eliminate interference of multipath errors on the positioning result.
Disclosure of Invention
The invention aims to provide an UWB indoor positioning system using an interpolation method aiming at the defects of the prior art, which is easy to be influenced by non-line-of-sight and multipath effects, adopts a cooperative positioning system constructed by a master base station, a positioning tag, a switch and a background server to carry out fine modeling on multipath errors of an experimental scene, stores model parameters in the background server, optimizes TDOA pseudo-range during positioning, eliminates the influence of multipath errors and improves positioning accuracy. The invention has the advantages of easy popularization and great advantages and commercial prospect in high-precision indoor positioning application scenes because a large number of hardware devices are not required to be additionally paved and the existing hardware devices are not required to be changed.
The purpose of the invention is realized in the following way:
the UWB indoor positioning system using interpolation method is characterized by comprising a master base station, a slave base station, an exchanger, a positioning label, a background server and a data processing terminal, wherein the number of the master base station and the slave base stations is several; the switch is connected with the master base station, the slave base station and the background server by optical fibers in a wired mode, the background server is connected with the data processing terminal by optical fibers in a wired mode, and the positioning tag transmits signals with the master base station and the slave base station in a wireless mode;
Dividing a field to be positioned into a plurality of grid areas in advance, wherein grid intersection points are used as acquisition points of priori information, the positioning TAG transmits a TAG positioning packet in a broadcasting mode, a main base station transmits a SYNC synchronous packet, receives the TAG positioning packet transmitted by the positioning TAG, packages the TAG positioning packet into a data packet in a UDP format and transmits the data packet to a switch, the TAG positioning packet transmitted by the main base station and the positioning TAG is received from the base station and transmitted to the switch, and the switch transmits all data to a background server; the background server obtains the arrival time TOA data of the positioning label and each base station through SYNC packets and TAG positioning packets collected by each base station, calculates TDOA pseudo-ranges of the positioning label reaching each group of master-slave base stations by utilizing TOA data at a data processing terminal, models multipath residual values of the TDOA pseudo-ranges collected in advance at each grid intersection point by utilizing trend surface analysis to obtain trend surface fitting coefficients in a polynomial function form, generates a multipath correction table to be stored in the background server, extracts parameters during positioning to optimize the TDOA pseudo-ranges so as to achieve the aim of eliminating multipath errors, and then solves the accurate position information of the positioning label by utilizing an improved Taylor iterative calculation algorithm;
The one-way observation equation of the arrival time TOA is calculated by the following expression (1):
Wherein t i is the time when the base station i receives the signal; t j is the time at which the positioning tag j signals; The true coordinates of the base station i; /(I) The true coordinates of the positioning tag j; c is the propagation speed of the positioning tag transmitting signal; τ i is the clock difference of the clock of base station i at the time of receiving the signal; τ j is the clock difference of the clock of the positioning tag j at the time of transmitting the signal; /(I)Multipath delay terms for locating the tag to the base station; /(I)Hardware delay and observation error term;
the TDOA composed of the positioning tag j and the master base station i 1 and the slave base station i 2 is calculated by the following formula (2) The representation is:
Wherein the method comprises the steps of The time when the signal is received by the main base station i 1; /(I)Is the time of receipt of the signal from base station i 2; t j is the time at which the positioning tag transmits a signal; /(I)The real coordinates of the main base station i 1; /(I)True coordinates of the slave base station i 2; /(I)The clock difference of the clock of the master base station i 1 at the time of receiving the signal; /(I)Is the clock difference of the clock of the slave base station i 2 at the time of receiving the signal; /(I)Multipath delay terms for locating tag j to master base station i 1; /(I)A multipath delay term for locating tag j to slave base station i 2; /(I)Residual terms of hardware errors and observation errors for positioning tag j and master base station i 1; /(I)Hardware delay and observation error terms for locating tag j and slave base station i 2;
the improved Taylor iterative solution algorithm is represented by the following formula (3):
h＝GΔ+ε (3)
Wherein the method comprises the steps of Representing TDOA measurements of a positioning tag j to a master base station i 1 and to a slave base station i n,/>TDOA calculated values representing the position tag j to the master base station i 1 and to the slave base station i n,/>For the error values of TDOA in the x, y and z axes,
The epsilon is an error vector and is a conversion matrix;
the formula (3) is converted into a least squares form:
Δ＝(GTQ-1G)-1GTQ-1h (4)
Wherein Q represents the covariance matrix of the TDOA measurements;
The multipath residual value is represented by the following (5):
Wherein x i represents the x-axis coordinates of the positioning tag; y i represents the y-axis coordinates of the positioning tag; m i(xi,yi) is a multipath observation that the positioning tag is located at coordinates (x i,yi); Multipath estimates at (x i,yi) for the positioning tag; epsilon i is the fit multipath residual error in the grid;
the trend surface fitting coefficients of the polynomial function form are obtained by linear, quadratic and cubic trend surface fitting and are respectively represented by the following formulas (6), (7) and (8):
Wherein b 0,b1,b2. Coefficients to be solved for the polynomial function; the method is characterized in that N 1i＝xi,N2i＝yi, Subscript P represents the number of non-constant terms in the trend surface polynomial;
The trend surface analysis of the grid intersections with coordinates (x i,yi) is expressed by the following expression (9):
mi＝b0+b1N1i+b2N2i+…+bPNPi (9)
Formula (9) converts to a least squares form:
(NTN)B＝NTM (10)
wherein,
The trend surface fitting coefficient B is calculated by the following expression (11):
The master base station integrates a master control and a reference label, and the master control synchronizes the reference label and a label clock and transmits system information; the reference TAG transmits the local time to the slave base station, and encapsulates the received TAG locating packet transmitted by the locating TAG into a data packet in a format of user datagram protocol (User Datagram Protocol: UDP).
And judging the synchronous time by the slave base station, resolving the time and the phase difference, and encapsulating the received SYNC synchronous packet sent by the master base station and the TAG positioning packet sent by the positioning TAG into a data packet in a User Datagram Protocol (UDP) format.
The positioning TAG broadcasts Ultra Wideband (UWB) pulse signals containing local time and TAG ID information as TAG positioning packets to each master-slave base station at a frequency of 32 Hz.
The switch is a two-layer switch, and is connected with a master base station and a background server by more than five types of optical fibers and used for data exchange between each base station and the background server.
The real coordinates of the base station and the grid intersection point are measured and recorded by a millimeter-level laser range finder.
The background server comprises a control module, a data storage module and a data analysis and calculation module.
The TAG locating packet sent by the locating TAG comprises: identification string, area information, time, tag ID, number of TDOA base stations, each base station ID, TDOA pseudorange from each base station to the master base station, and sequence number.
The SYNC synchronization packet sent by the master base station includes: time, identification string, network ID, sequence number, home base station ID, source master base station ID, master base station transmit time, slave base station receive time, and signal quality.
The invention utilizes the prior information to construct the multipath error correction table, compensates the TDOA measured value to improve the positioning precision, has higher and more stable positioning precision compared with the prior art, does not need to additionally lay a large amount of hardware equipment and does not need to change the prior hardware equipment, thereby being easy to popularize and having larger advantages and commercial prospect in indoor positioning application scenes in complex environments.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a two-dimensional layout of a TMPM;
FIG. 3 is a schematic diagram of a multi-path modeling and correction procedure in accordance with the present invention;
FIG. 4 is a comparison of the positioning results of the present invention and the prior art positioning.
Detailed Description
Referring to fig. 1, the present invention is based on an indoor positioning system constructed by a plurality of master base stations 1, a plurality of slave base stations 2, a positioning tag 3, a switch 4, a background server 5 and a data processing terminal 6, wherein the master base stations 1 and the slave base stations 2 are powered by POE and transmit data back to the background server 5. The exchange 4 gathers the TAG locating packets received from the base station 2 and the master base station 1 and transmits SYNC packets received from the base station 2 to the background server 5. The background server 5 is responsible for base station synchronization, analyzing data packets, and transmitting the analyzed data to the data processing terminal 6. The data processing terminal 6 performs the function of calculating the trend surface fitting coefficient in the form of a polynomial function, storing the TMPM correction table and the coordinate information of the master base station l and the slave base station 2, and resolving the tag position, and the like. The positioning tag 3 stably transmits a positioning packet at a preset frequency, and the master base station 1 and the slave base station 2 receive the positioning packet and the synchronization packet and transmit them to the background server 5 via the switch 4. The background server 5 calculates the difference in distance from the positioning tag 3 to the slave base station 2 and the master base station 1 by means of the arrival time difference, and the data processing terminal 6 will then resolve the position information of the positioning tag 3 using TDOA.
The background server 5 comprises a control module, a data storage module and a data analysis and calculation module. The master base station 1 integrates a master control and a reference label, the master control synchronizes the reference label and a label clock, transmits system information, transmits local time to the slave base station, and encapsulates a received TAG positioning packet transmitted by the positioning label into a data packet in a user datagram protocol (User Datagram Protocol: UDP) format. And the slave base station 2 judges the synchronous time, solves the time and the phase difference, and encapsulates the received SYNC synchronous packet sent by the master base station and the TAG positioning packet sent by the positioning TAG into a data packet in a user datagram protocol UDP format. The positioning TAG 3 broadcasts an Ultra Wideband (UWB) pulse signal containing the local time and TAG ID information as TAG positioning packets to each of the master base station 1 and the slave base station 2 at a frequency of 32 Hz. The switch 4 is connected with the master base station 1, the slave base station 2 and the background server 5 by more than five types of optical fibers and is used for data exchange among the master base station 1, the slave base station 2 and the background server 5. The real coordinates of the base station 1, the slave base station 2 and the grid points are measured and recorded by a millimeter-scale laser range finder. The TAG locating packet sent by the locating TAG 3 includes: identification string, area information, time, tag ID, number of TDOA base stations, each base station ID, TDOA pseudorange from each base station to the master base station, and sequence number. The SYNC synchronization packet sent by the master base station 1 includes: time, identification string, network ID, sequence number, own base station ID, source master base station ID, master base station transmission time, slave base station reception time, signal quality.
The present invention will be described in further detail with reference to the following examples.
Examples
Referring to fig. 2, before the positioning process, the present invention divides grids in advance in a rectangular office area with an indoor area to be positioned of 5m by 1m resolution, wherein the base stations are respectively located at four vertexes, the height of the main base station 1 at the upper left vertex is 2.909m, the heights of the three auxiliary base stations 2 at the rest three vertexes are 2.868m, 2.864m and 2.868m respectively, a plurality of tables and chairs are placed in the middle of the area, grid intersection point 7 positions in the figure represent priori data acquisition points, five-pointed star positions 8 represent test points, and the acquisition height of a positioning label is fixed to be 1.3m.
The ultra-wideband indoor positioning system is characterized in that a plurality of master base stations, a plurality of slave base stations, an exchanger, a positioning TAG, a background server and a data processing terminal framework are adopted, wherein in the base stations, the master base stations send SYNC synchronous packets, TAG positioning packets sent by the positioning TAG are received to transmit data to the exchanger, slave base stations receive the SYNC positioning packets sent by the master base stations and the SYNC positioning packets sent by the TAG to transmit all the data to the background server; the background server calculates TDOA pseudo-ranges of the positioning labels reaching each group of master-slave base stations through SYNC packets and TAG positioning packets collected by each base station, the real TDOA values and the acquired pseudo-range values are differenced to obtain multipath error values, the multipath error values and real coordinates of grid intersection points are stored in a csv file, then coefficients of trend surface polynomials are fitted through trend surface analysis modeling, and the coefficients of each grid intersection point and the position serial numbers are stored in the background server to serve as TMPM correction tables. Applying an improved Taylor algorithm in positioning, substituting the TDOA value into the positioning algorithm, calculating a coarse precision coordinate, taking out a coefficient corresponding to the grid intersection point from a TMPM correction table, performing multipath error compensation on the TDOA, substituting the coefficient into the positioning algorithm again to update the label coordinate, continuously iterating by taking the difference of Euclidean distance as a convergence threshold value, and obtaining a final calculated coordinate when the convergence is performed; referring to fig. 3, the specific positioning process is as follows:
a. And uniformly dividing rectangular grids of the area to be positioned on a two-dimensional plane, establishing an European coordinate system by taking a main base station as an origin, measuring real coordinates of intersections of the main base station and each grid by using a laser range finder, placing positioning labels at the same height for data acquisition, and comparing acquired data resolving results with the real coordinates to obtain multipath errors.
B. The multipath error accords with the characteristic of space-time repeatability, namely, the multipath error corresponding to the same base station is unchanged at the same position, the position of each network point and the actual space coordinate of the base station are known, namely, the obtained multipath error is basically stable and unchanged, and the two-dimensional coordinate of the corresponding grid point is combined and stored to be used as the modeling input.
C. And carrying out two-dimensional trend surface analysis TMPM modeling on the multipath error.
1) For grid points in the model, multipath residual values with the same x, y coordinates are clustered together, the TMPM model uses trend surface analysis to fit the two-dimensional spatial variation of the multipath residual values within the grid points to obtain a multipath expression for the grid region, and the multipath residual values within the grid points can be expressed as:
Where i is the i-th point in the grid, (x i,yi) is the coordinates of that point, m i(xi,yi) is a multipath observation, Is a multipath estimate and epsilon i represents the fit multipath residual within the grid.
2) The polynomial function form fitting, and the fitting formulas of the linear, quadratic and cubic trend surfaces are represented by the following (6) (7) (8)
Wherein b 0,b1,b2. Coefficients to be solved for the trend surface equation. The method is characterized in that N 1i＝xi,N2i＝yi,Wherein the subscript P represents the number of non-constant terms in the trend surface polynomial. Thus, the equation for trend surface analysis for grid points with coordinates (x i,yi) is:
mi＝b0+b1N1i+b2N2i+…+bPNPi (5)
3) The least squares matrix solution equation is:
(NTN)B＝NTM (6)
wherein,
The fitting coefficient B of the trend surface can thus be derived:
Fitting coefficients of the linear, quadratic and cubic trend surfaces are obtained respectively.
D. and carrying out moderately test on the fitting result and then selecting the best fitting coefficient.
E. and (3) converging the real coordinates of all the best fitting coefficients combined with the grid intersection points to generate a TMPM correction table, and storing the TMPM correction table in a background server.
F. and (3) obtaining the coarse position of the positioning label through the primary improved Taylor algorithm, and further obtaining the grid area where the label is positioned.
G. And inquiring corresponding area data in the TPMP correction table stored by the background server according to the obtained grid area position.
H. and obtaining the trend surface coefficient of the corresponding grid area.
I. and returning the TDOA compensation value of the corresponding position of the positioning label by using the polynomial function of the corresponding order and the trend surface coefficient.
J. Substituting the TDOA pseudo range corrected by the multipath error into a coordinate resolving algorithm to resolve new position information, repeating the steps f-i, iterating out a plurality of new coordinates until the resolving error between the new coordinates and the last time is smaller than a certain threshold value, and outputting the position information of the label.
Referring to fig. 4, compared with the existing positioning technology, the average value of positioning errors of the traditional positioning method RAW is 88cm, the positioning error of the cumulative distribution function at 80% of the minute points is 95cm, the average value of positioning errors of the MPM method is 23cm, the positioning error of the cumulative distribution function at 80% of the minute points is 36cm, the average value of error of the solution result of the T-MPM model is 17cm, and the positioning error of the cumulative distribution function at 80% of the minute points is 25cm. Therefore, the method can effectively relieve the positioning error caused by the multipath effect in the aspect of indoor positioning pseudo-range processing by using the multipath modeling method based on the trend surface, and improves the positioning accuracy and the robustness by utilizing the processed TDOA pseudo-range for positioning calculation, which is superior to the existing positioning technology.
The foregoing is further illustrative of the present invention and is not to be construed as limiting thereof, and equivalents may be resorted to, falling within the spirit and scope of the inventive concept as defined by the appended claims.
Claims (9)
1. The UWB indoor positioning system using interpolation method is characterized in that the system comprises a master base station, a slave base station, an exchanger, a positioning tag, a background server and a data processing terminal, wherein the number of the master base station and the slave base stations is several; the switch is connected with the master base station, the slave base station and the background server by optical fibers in a wired mode, the background server is connected with the data processing terminal by optical fibers in a wired mode, and the positioning tag transmits signals with the master base station and the slave base station in a wireless mode;
Dividing a field to be positioned into a plurality of grid areas in advance, wherein grid intersection points are used as acquisition points of priori information, the positioning TAGs send TAG positioning packets in a broadcast mode, a main base station sends SYNC synchronous packets, the TAG positioning packets sent by the positioning TAGs are received and packaged into data packets in UDP format and are transmitted to a switch, the synchronous packets sent by the main base station and the TAG positioning packets sent by the positioning TAGs are received from the base station and are transmitted to the switch, and the switch sends all data to a background server; the background server obtains the arrival time TOA data of the positioning label and each base station through SYNC packets and TAG positioning packets collected by each base station, calculates TDOA pseudo-ranges of the positioning label reaching each group of master-slave base stations by utilizing TOA data at a data processing terminal, models multipath residual values of the TDOA pseudo-ranges collected in advance at each grid intersection point by utilizing trend surface analysis to obtain trend surface fitting coefficients in a polynomial function form, generates a multipath correction table to be stored in the background server, extracts parameters during positioning to optimize the TDOA pseudo-ranges so as to achieve the aim of eliminating multipath errors, and then solves the accurate position information of the positioning label by utilizing an improved Taylor iterative calculation algorithm;
The one-way observation equation of the arrival time TOA is calculated by the following expression (1):
Wherein t i is the time when the base station i receives the signal; t j is the time at which the positioning tag j signals; The true coordinates of the base station i; /(I) The true coordinates of the positioning tag j; c is the propagation speed of the positioning tag transmitting signal; τ i is the clock difference of the clock of base station i at the time of receiving the signal; τ j is the clock difference of the clock of the positioning tag j at the time of transmitting the signal; /(I)Multipath delay terms for locating the tag to the base station; /(I)Hardware delay and observation error term;
the TDOA composed of the positioning tag j and the master base station i 1 and the slave base station i 2 is calculated by the following formula (2) The representation is:
Wherein the method comprises the steps of The time when the signal is received by the main base station i 1; /(I)Is the time of receipt of the signal from base station i 2; t j is the time at which the positioning tag transmits a signal; /(I)The real coordinates of the main base station i 1; /(I)True coordinates of the slave base station i 2; /(I)The clock difference of the clock of the master base station i 1 at the time of receiving the signal; /(I)Is the clock difference of the clock of the slave base station i 2 at the time of receiving the signal; /(I)Multipath delay terms for locating tag j to master base station i 1; /(I)A multipath delay term for locating tag j to slave base station i 2; /(I)Residual terms of hardware errors and observation errors for positioning tag j and master base station i 1; /(I)Hardware delay and observation error terms for locating tag j and slave base station i 2;
the improved Taylor iterative solution algorithm is represented by the following formula (3):
h＝GΔ+ε (3)
Wherein the method comprises the steps of Representing TDOA measurements of a positioning tag j to a master base station i 1 and to a slave base station i n,/>TDOA calculated values representing the position tag j to the master base station i 1 and to the slave base station i n,/>For the error values of TDOA in the x, y and z axes,
In the formula, (x T,yT,zT) is the coordinate of the label, and is the transformation matrixCoordinates of the main base station,/>For the coordinates of the ith slave base station,/>TOA measurements for the ith base station; epsilon is an error vector;
the formula (3) is converted into a least squares form:
Δ＝(GTQ-1G)-1GTQ-1h (4)
Wherein Q represents the covariance matrix of the TDOA measurements;
The multipath residual value is represented by the following (5):
Wherein x i represents the x-axis coordinates of the positioning tag; y i represents the y-axis coordinates of the positioning tag; m i(xi,yi) is a multipath observation that the positioning tag is located at coordinates (x i,yi); Multipath estimates at (x i,yi) for the positioning tag; epsilon i is the fit multipath residual error in the grid;
the trend surface fitting coefficients of the polynomial function form are obtained by linear, quadratic and cubic trend surface fitting and are respectively represented by the following formulas (6), (7) and (8):
Wherein b 0,b1,b2 … is the coefficient to be solved for the polynomial function; the method is characterized in that N 1i＝xi,N2i＝yi, Subscript P represents the number of non-constant terms in the trend surface polynomial;
The trend surface analysis of the grid intersections with coordinates (x i,yi) is expressed by the following expression (9):
mi＝b0+b1N1i+b2N2i+…+bPNPi (9)
Formula (9) converts to a least squares form:
(NTN)B＝NTM (10)
wherein,
The trend surface fitting coefficient B is calculated by the following expression (11):
2. the UWB indoor positioning system using interpolation method according to claim 1, wherein the master base station integrates a master control and a reference tag, the master control synchronizes the reference tag and a tag clock, and issues system information; and the reference TAG transmits the local time to the slave base station, and encapsulates the received TAG locating packet transmitted by the locating TAG into a data packet in a format of a user datagram protocol.
3. The UWB indoor positioning system using interpolation method according to claim 1, wherein the slave base station judges the synchronization time, solves the time and phase difference, and encapsulates the received SYNC synchronization packet transmitted by the master base station and TAG positioning packet transmitted by the positioning TAG into a data packet in a user datagram protocol UDP format.
4. The UWB indoor positioning system using interpolation method according to claim 1, wherein the positioning TAG broadcasts ultra wideband pulse signals containing the local time and TAG ID information as TAG positioning packets to each master-slave base station at a frequency of 32 Hz.
5. The UWB indoor positioning system using interpolation method according to claim 1, wherein the switch is a two-layer switch, and the master-slave base station and the background server are connected by more than five kinds of optical fibers for data exchange between each base station and the background server.
6. The UWB indoor positioning system using interpolation method according to claim 1, wherein the real coordinates of the base station and grid intersection point are measured and recorded by a millimeter-scale laser range finder.
7. The UWB indoor positioning system of claim 1 wherein the background server comprises a control module, a data storage module, a data parsing and computation module.
8. The UWB indoor positioning system using interpolation method according to claim 1, wherein the TAG positioning packet transmitted by the positioning TAG comprises: identification string, area information, time, tag ID, number of TDOA base stations, each base station ID, TDOA pseudorange from each base station to the master base station, and sequence number.
9. The UWB indoor positioning system using interpolation method according to claim 1, wherein the SYNC synchronization packet transmitted from the master base station comprises: time, identification string, network ID, sequence number, home base station ID, source master base station ID, master base station transmit time, slave base station receive time, and signal quality.
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