CN114828210A - TDOA wireless synchronization method of high-precision stable UWB based on Internet of things - Google Patents
TDOA wireless synchronization method of high-precision stable UWB based on Internet of things Download PDFInfo
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- CN114828210A CN114828210A CN202210436375.7A CN202210436375A CN114828210A CN 114828210 A CN114828210 A CN 114828210A CN 202210436375 A CN202210436375 A CN 202210436375A CN 114828210 A CN114828210 A CN 114828210A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0221—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Quality & Reliability (AREA)
- Electromagnetism (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a TDOA wireless synchronization method of high-precision and stable UWB based on the Internet of things, belonging to the technical field of positioning systems, and the method comprises the steps of carrying out simultaneous calculation on initial signal receiving intensity and initial signal receiving time in signal data to obtain the signal degrees of a plurality of base stations, comparing the signal degrees of different base stations, and selecting a standard base station and a plurality of auxiliary base stations; the base station with the highest signal degree is selected as the standard base station, namely the base station is closest to the mobile terminal or has the highest signal receiving intensity, so that the problem that the loss of the initial signal in the transmission process is caused by the shielding or multipath effect in the transmission process, the synchronization precision of the signal is influenced, and the positioning precision of the mobile terminal is influenced finally due to the fact that the standard base station is too far away from the mobile terminal is avoided. The method and the device are used for solving the technical problem that when the positioning label is too far away from the main base station, the synchronization precision is reduced or the deviation is stabilized due to shielding and multipath in the environment during the transmission process of signals.
Description
Technical Field
The invention relates to the technical field of positioning systems, in particular to a TDOA wireless synchronization method of high-precision and stable UWB based on the Internet of things.
Background
UWB technology is mainly divided into two positioning methods: TOF and TDOA. The time of the TOF ranging method depends on the clock accuracy, and clock offsets introduce errors. In order to reduce the ranging error caused by the clock offset, a forward and reverse measurement method is generally adopted, that is, the far-end base station sends ranging information, the tag receives and replies the ranging information, then the tag initiates the ranging information, the far-end base station replies, and the time offset between the far-end base station and the tag is reduced by calculating the average value of the flight time, so that the ranging precision is improved. But due to the fact that the TOF power consumption is greatly improved, the endurance time is relatively short. The TDOA technology does not need to carry out reciprocating communication between the positioning tag and the positioning base station, only needs the positioning tag to transmit a UWB signal once, shortens the working time, greatly reduces the power consumption, and can achieve higher positioning dynamic and positioning capacity, and the traditional TDOA positioning system needs 1 independent time synchronization base station to carry out time synchronization on a plurality of positioning base stations.
The invention patent with application number 2021109623578 discloses a TDOA positioning method using pseudo clock synchronization, which combines a time synchronization base station and a positioning base station into a whole, namely, the master base station transmits clock synchronization information when the master base station is set, also receives positioning information transmitted by a positioning tag and records corresponding time stamps, and the slave base station receives clock synchronization information transmitted by the master base station and positioning information transmitted by the positioning tag and records corresponding time stamps. The master base station and the slave base station send the timestamp information to the positioning server, and the positioning server calls a corresponding coordinate calculation algorithm and a Kalman filtering algorithm to calculate the coordinates of the positioning label.
The patent has the following problems: when the positioning tag is too far away from the main base station, the signal is shielded and multipath in the environment in the transmission process, so that the signal strength is weakened, the synchronization precision is reduced or stable deviation is caused, the positioning precision of the positioning tag is finally reduced, and meanwhile, the signal with too weak signal strength cannot be removed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a TDOA wireless synchronization method of high-precision and stable UWB based on the Internet of things, which solves the following technical problems: when the positioning label is too far away from the main base station, the signal is shielded and multipath in the environment in the transmission process, so that the signal strength is weakened, the synchronization precision is reduced or stable deviation is caused, the positioning precision of the positioning label is finally reduced, and meanwhile, the signal with too weak signal strength cannot be removed.
The purpose of the invention can be realized by the following technical scheme:
a TDOA wireless synchronization method of high-precision and stable UWB based on the Internet of things comprises the following steps:
the method comprises the following steps: the mobile terminal transmits an initial signal to a plurality of base stations, and the base stations receive and record operation data of the initial signal, wherein the operation data comprises initial signal receiving strength and initial signal receiving time;
step two: calculating the signal degree of the initial signals received by the base stations by using a signal degree calculation formula, comparing the signal degree with a signal degree threshold value, and removing the signal degree lower than the signal degree threshold value;
step three: setting a standard base station and an auxiliary base station by using the signal degree;
step four: after the standard base station is set, transmitting secondary signals to the auxiliary base stations after a fixed time delay TD1, and the auxiliary base stations receiving the secondary signals and recording the receiving time of the secondary signals;
step five: after the standard base station transmits the secondary signal, transmitting an end signal to the plurality of auxiliary base stations after a fixed time delay TD2, and recording the receiving time of the end signal after the plurality of auxiliary signals receive the end signal;
step six: and obtaining the coordinates of the mobile terminal by utilizing a coordinate calculation algorithm according to the distance difference between the auxiliary base stations AN and BN and the distance difference between the AN and the CN of the mobile terminal and the respective coordinates of the AN, the BN and the CN.
Further, using a formula for calculating the signal degree
Obtaining the signal degrees of a plurality of base stations, wherein DBi is the signal degree, SJi is the initial signal receiving time of the initial signal of the base station, QDi is the initial signal receiving intensity of the initial signal of the base station, and α is represented as a preset proportionality coefficient and is not zero.
Further, the signal degree threshold value searches a corresponding work report passing through the area through the internet of things terminal, and the signal degree threshold value is formulated according to the work report, wherein the step of comparing the signal degree with the preset signal degree threshold value is as follows: when DBi is larger than or equal to DBX, the initial signal receiving time data received by the base station corresponding to the signal degree is adopted; when DBi is less than DBX, removing initial signal receiving time data received by the base station corresponding to the signal degree; where DBX is the threshold of the signal level and DBi is the signal level.
Furthermore, a plurality of signal degrees which are not less than the signal degree threshold value are arranged in a descending order, the maximum value of the signal degrees in the plurality of base stations is obtained, the signal degree is defined as the standard signal degree, the base station corresponding to the standard signal degree is set as the standard base station, and the rest base stations are set as the auxiliary base stations.
Further, the receiving time of the secondary signals received by the two assisting base stations AN and BN is defined as a1 and B1; the receiving times of the end signals received by the two assisting base stations AN and BN are defined as a2 and B2, respectively.
Further, the distance calculation formula DS ═ c | t is used AN -t BN I, calculating the distance difference of the mobile terminal between two auxiliary base stations AN and BN; wherein, t AN For the mapping time of the auxiliary base station AN on the standard base station, t BN For mapping of the auxiliary base station BN on the standard base stationAnd c is the speed of light.
Further, the calculation formula of the mapping time of the auxiliary base station AN on the standard base station is
The mapping time calculation formula of the auxiliary base station BN on the standard base station is as follows
Where AT is the initial signal reception time of the assisting base station AN and BT is the initial signal reception time of the assisting base station BN.
Compared with the prior art, the invention has the beneficial effects that:
in the invention, the signal degrees of a plurality of base stations are obtained by simultaneously calculating the initial signal receiving intensity and the initial signal receiving time in signal data, and a standard base station and a plurality of auxiliary base stations are selected by comparing the signal degrees of different base stations; selecting the base station with the highest signal degree as a standard base station, namely the base station is closest to the mobile terminal or has the highest signal receiving intensity, so that the problems that the loss of an initial signal in the transmission process is caused by shielding or multipath effect in the transmission process, the synchronization precision of the signal is influenced, and the positioning precision of the mobile terminal is influenced finally due to the fact that the standard base station is too far away from the mobile terminal are avoided;
through comparing a plurality of signal degrees with preset signal degree threshold values, the method is used for rejecting signals with too low signal intensity, and avoids the problem that the time synchronization among a plurality of base stations is influenced due to the fact that the base stations are too far away or the environment is shielded, and the positioning accuracy of the mobile terminal is reduced.
Drawings
FIG. 1 is a flow chart of a TDOA wireless synchronization method of high-precision and stable UWB based on the Internet of things.
Detailed Description
Referring to fig. 1, the invention relates to a TDOA wireless synchronization method of high-precision and stable UWB based on the internet of things, which comprises the following steps:
the method comprises the following steps: the mobile terminal transmits an initial signal to a plurality of base stations, the base stations receive and record operation data of the initial signal, and the operation data of the initial signal comprises initial signal receiving intensity and initial signal receiving time;
step two: calculating the signal degree of the initial signals received by the base stations by using a signal degree calculation formula, comparing the signal degree with a signal degree threshold value, and removing the signal degree lower than the signal degree threshold value;
step three: setting a standard base station and a plurality of auxiliary base stations by using the signal degree, wherein the number of the standard base stations is one;
step four: after the standard base station is set, transmitting secondary signals to the auxiliary base stations after a fixed time delay TD1, and the auxiliary base stations receiving the secondary signals and recording the receiving time of the secondary signals;
step five: after the standard base station transmits the secondary signal, transmitting an end signal to the plurality of auxiliary base stations after a fixed time delay TD2, and recording the receiving time of the end signal after the plurality of auxiliary signals receive the end signal;
step six: and obtaining the coordinates of the mobile terminal by utilizing a coordinate calculation algorithm according to the distance difference between the auxiliary base stations AN and BN and the distance difference between the AN and the CN of the mobile terminal and the respective coordinates of the AN, the BN and the CN.
When the mobile terminal transmits an initial signal to a plurality of base stations, the plurality of base stations receive and record operation data of the initial signal, wherein the operation data comprises initial signal receiving intensity and initial signal receiving time; in order to ensure the accuracy of communication data, the number of the base stations is more than or equal to 4, one of the base stations is a standard base station, and at least three of the base stations are auxiliary base stations;
acquiring initial signal receiving strength in the operation data, and setting the initial signal receiving strength in the operation data received by a plurality of base stations as QDi, wherein i is 1, 2, 3.. n;
acquiring initial signal receiving time in the operation data, and setting the initial signal receiving time in the operation data received by a plurality of base stations as SJi, wherein i is 1, 2, 3.. n;
using formula of degree of signal calculation
Obtaining the signal degrees of the initial signal at different base stations, wherein DBi is the signal degree, SJi is the initial signal receiving time of the initial signal at the base station, QDi is the initial signal receiving intensity of the initial signal at the base station, and α is represented by a preset proportionality coefficient and is not zero; the higher the signal degree is, the lower the loss of the initial signal received by the base station is, namely the higher the signal strength received by the base station is, the shorter the signal receiving time is, and the closer the mobile terminal is to the base station is indicated;
comparing the plurality of signal degrees with a preset signal degree threshold value; searching a corresponding work report passing through the region by the signal degree threshold through the Internet of things terminal, and formulating the signal degree threshold according to the work report; the signal degree threshold is used for eliminating signals with too low signal degree, namely, the signal intensity of the signals is too low and the transmission distance is too long, so that the abnormal signals caused by too far base stations or environmental shielding are avoided, and the positioning accuracy of the mobile terminal is further reduced;
the steps of comparing the plurality of signal degrees with a preset signal degree threshold are as follows:
when DBi is larger than or equal to DBX, the initial signal receiving time data received by the base station corresponding to the signal degree is adopted;
when DBi is less than DBX, removing initial signal receiving time data received by the base station corresponding to the signal degree;
wherein DBX is the signal degree threshold value and DBi is the signal degree;
sequencing a plurality of signal degrees not less than a signal degree threshold value in a descending order manner to obtain the maximum value of the signal degrees in a plurality of base stations, defining the signal degree as a standard signal degree, setting the base station corresponding to the standard signal degree as a standard base station, and setting the rest base stations as auxiliary base stations; selecting a base station with the highest signal degree as a standard base station, namely the base station is closest to the mobile terminal or has the highest signal receiving intensity, so that the problem that the main base station is too far away from the mobile terminal or has too high loss in the signal transmission process, so that the loss in the signal transmission process is caused by shielding or multipath effect in the transmission process of an initial signal, and the positioning precision of the mobile terminal is influenced is avoided; through the arrangement, the reference base station is defined according to the position of the mobile terminal, and the time synchronization precision is improved.
After the standard base station is set, transmitting secondary signals to the auxiliary base stations after a fixed time delay TD1, and receiving the secondary signals by the auxiliary base stations and generating the receiving time of the secondary signals; defining the receiving time of the secondary signals received by two auxiliary base stations AN and BN as A1 and B1 respectively;
after the standard base station transmits the secondary signal, transmitting an end signal to the plurality of auxiliary base stations after a fixed delay TD2, when the plurality of auxiliary base stations receive the end signal, ending the positioning by the mobile terminal, and simultaneously recording the receiving time of the end signal received by each auxiliary base station; defining the receiving time of the two auxiliary base stations AN and BN receiving the end signal as A2 and B2 respectively;
calculating the distance difference of the mobile terminal between the two auxiliary base stations AN and BN by using a distance calculation formula;
the calculation formula for mapping the initial signal receiving time of the auxiliary base stations AN and BN to the standard base station respectively is as follows:
where AT is the initial signal reception time of the assisting base station AN, BT is the initial signal reception time of the assisting base station BN, t AN For the mapping time of the auxiliary base station AN on the standard base station, t BN For the mapping time of the auxiliary base station BN on the standard base station, the distance calculation formula DS ═ c | t is used AN -t BN I, calculating the distance difference of the mobile terminal between the auxiliary base station AN and the BN, wherein c is the speed of light;
the distance difference of the mobile terminal between the auxiliary base stations AN and CN or between the BN and CN is calculated by the formula through the other auxiliary base station CN, the distance difference of the mobile terminal between the auxiliary base stations AN and CN is selected in the invention, and the position of the mobile terminal can be obtained by utilizing the distance difference of the mobile terminal between the auxiliary base stations AN and BN and between the AN and CN and the respective coordinates of AN, BN and CN and utilizing a coordinate calculation algorithm.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. A TDOA wireless synchronization method of high-precision and stable UWB based on the Internet of things is characterized by comprising the following steps:
the method comprises the following steps: the mobile terminal transmits an initial signal to a plurality of base stations, and the base stations receive and record operation data of the initial signal, wherein the operation data comprises initial signal receiving strength and initial signal receiving time;
step two: calculating the signal degree of the initial signals received by the base stations by using a signal degree calculation formula, comparing the signal degree with a signal degree threshold value, and removing the signal degree lower than the signal degree threshold value;
step three: setting a standard base station and an auxiliary base station by using the signal degree;
step four: after the standard base station is set, transmitting secondary signals to the auxiliary base stations after a fixed time delay TD1, and the auxiliary base stations receiving the secondary signals and recording the receiving time of the secondary signals;
step five: after the standard base station transmits the secondary signal, transmitting an end signal to the plurality of auxiliary base stations after a fixed time delay TD2, and recording the receiving time of the end signal after the plurality of auxiliary signals receive the end signal;
step six: and obtaining the coordinates of the mobile terminal by utilizing a coordinate calculation algorithm according to the distance difference between the auxiliary base stations AN and BN and the distance difference between the AN and the CN of the mobile terminal and the respective coordinates of the AN, the BN and the CN.
2. The TDOA wireless synchronization method based on high-precision and stable UWB of the Internet of things as claimed in claim 1, characterized in that a signal degree calculation formula is utilized
Obtaining the signal degrees of a plurality of base stations, wherein DBi is the signal degree, SJi is the initial signal receiving time of the initial signal of the base station, QDi is the initial signal receiving intensity of the initial signal of the base station, and α is represented as a preset proportionality coefficient and is not zero.
3. The TDOA wireless synchronization method based on the high-precision and stable UWB of the Internet of things as claimed in claim 2, wherein a signal degree threshold value is searched for a corresponding work report passing by the area through the terminal of the Internet of things, and the signal degree threshold value is formulated according to the work report, wherein the step of comparing the signal degree with the preset signal degree threshold value is as follows: when DBi is larger than or equal to DBX, the initial signal receiving time data received by the base station corresponding to the signal degree is adopted; when DBi is less than DBX, removing initial signal receiving time data received by the base station corresponding to the signal degree; where DBX is the threshold of the signal level and DBi is the signal level.
4. The method for wirelessly synchronizing TDOA based on high-precision and stable UWB of the Internet of things as claimed in claim 3, wherein a plurality of signal degrees not less than a threshold value of the signal degree are arranged in descending order, a maximum value of the signal degree among a plurality of base stations is obtained, the signal degree is defined as a standard signal degree, and simultaneously the base station corresponding to the standard signal degree is set as the standard base station, and the remaining base stations are set as auxiliary base stations.
5. The TDOA wireless synchronization method for high-precision and stable UWB based on the Internet of things as claimed in claim 4, wherein the receiving time of the secondary signals received by the two auxiliary base stations AN, BN is respectively defined as A1, B1; the receiving times of the end signals received by the two assisting base stations AN and BN are defined as a2 and B2, respectively.
6. The method for wirelessly synchronizing TDOA based on high-precision UWB (ultra-wideband) of the Internet of things as claimed in claim 5, wherein the distance calculation formula DS ═ c | t is utilized AN -t BN I calculating the distance difference between two auxiliary base stations AN and BN(ii) a Wherein, t AN For the mapping time of the auxiliary base station AN on the standard base station, t BN For the mapping time of the secondary base station BN on the standard base station, c is the speed of light.
7. The TDOA wireless synchronization method for high-precision and stable UWB based on the Internet of things as claimed in claim 6, wherein the mapping time calculation formula of the auxiliary base station AN on the standard base station is as follows
The mapping time calculation formula of the auxiliary base station BN on the standard base station is as follows
Where AT is the initial signal reception time of the assisting base station AN and BT is the initial signal reception time of the assisting base station BN.
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| CN202210436375.7A CN114828210A (en) | 2022-04-25 | 2022-04-25 | TDOA wireless synchronization method of high-precision stable UWB based on Internet of things |
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| CN202210436375.7A CN114828210A (en) | 2022-04-25 | 2022-04-25 | TDOA wireless synchronization method of high-precision stable UWB based on Internet of things |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116437288A (en) * | 2023-05-04 | 2023-07-14 | 青岛柯锐思德电子科技有限公司 | Method for selecting LOS base station algorithm design based on signal strength |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116437288A (en) * | 2023-05-04 | 2023-07-14 | 青岛柯锐思德电子科技有限公司 | Method for selecting LOS base station algorithm design based on signal strength |
| CN116437288B (en) * | 2023-05-04 | 2024-02-09 | 青岛柯锐思德电子科技有限公司 | Method for selecting LOS base station algorithm design based on signal strength |
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Application publication date: 20220729 |