CN114938537A - Auxiliary positioning method based on UWB (ultra Wide band) - Google Patents

Auxiliary positioning method based on UWB (ultra Wide band) Download PDF

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CN114938537A
CN114938537A CN202210721526.3A CN202210721526A CN114938537A CN 114938537 A CN114938537 A CN 114938537A CN 202210721526 A CN202210721526 A CN 202210721526A CN 114938537 A CN114938537 A CN 114938537A
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CN114938537B (en
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徐政
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Rivotek Technology Jiangsu Co Ltd
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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
    • 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
    • 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

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
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Abstract

The invention provides an auxiliary positioning method based on UWB realization, which belongs to the technical field of communication and comprises the following steps: step S1, acquiring the position information of the equipment A, the equipment B and the equipment C; step S2, device A, device B, device C and device D communicate based on two UWB modules, the device A, device B and device C are provided with one UWB module together, the device D is provided with another UWB module, and two-way distance measurement is carried out between the two UWB modules to obtain distance information; step S3, performing Kalman filtering optimization based on the distance information to acquire optimized distance information; and S4, acquiring the position information of the device D based on the position information and the optimized distance information. According to the invention, the two pieces of equipment carrying the UWB module are arranged, so that the positioning accuracy is high, the equipment can carry out efficient long-distance communication, the high-accuracy distance measurement between the equipment is finally realized, and the distance measurement error is effectively reduced.

Description

Auxiliary positioning method based on UWB
Technical Field
The invention belongs to the technical field of communication, and particularly relates to an auxiliary positioning method based on UWB.
Background
With the increasing demand of positioning technology, it has attracted attention and research of many scholars at home and abroad, and currently, the more common technologies in the positioning technology include bluetooth technology, WiFi technology, Zigbee technology, ultrasonic wave, laser radar technology, visual positioning technology, and the like.
Most of the positioning technologies are wireless technologies which communicate through weak pulse signals, and the positioning technologies have the technical characteristics of strong penetrating power, low power consumption, strong multipath interference resistance, high safety, low system complexity and the like, and the ranging precision reaches the centimeter level.
However, the application of the positioning technology has certain limitation, and the positioning technology has good performance when short-distance measurement is performed, but the positioning technology is applied to long-distance communication distance measurement to achieve positioning, the effect is often bad and satisfactory, and finally the distance measurement between the devices has large errors.
Disclosure of Invention
The invention aims to provide an auxiliary positioning method based on UWB realization, which combines UWB positioning technology and GPS positioning technology, and has the technical effect of high measurement precision when positioning is realized by long-distance communication.
In order to achieve the purpose, the invention provides the following technical scheme:
an auxiliary positioning method based on UWB comprises the following steps:
step S1, acquiring the position information of the equipment A, the equipment B and the equipment C;
step S2, the device A, the device B, the device C and the device D are communicated based on two UWB modules, the device A, the device B and the device C are provided with one UWB module together, the device D is provided with another UWB module, and two-way distance measurement is carried out between the two UWB modules to obtain distance information;
step S3, performing Kalman filtering optimization based on the distance information to obtain optimized distance information;
and step S4, acquiring the position information of the device D based on the position information of the device A, the device B and the device C and the optimized distance information. The invention realizes the positioning by long-distance communication and distance measurement through two pieces of equipment carrying the UWB module, and has high positioning precision.
As a preferable scheme of the present invention, in step S1, the device a, the device B, and the device C are all provided with a GPS module to sequentially acquire the location information of the device a, the device B, and the device C, the device a, the device B, and the device C are also provided with a data network module to implement signal transmission, and the GPS module and the data network module perform wireless signal transmission therebetween.
As a preferable aspect of the present invention, in step S2, the device a, the device B, and the device C are provided with one UWB module in common, the device D is provided with another UWB module, and two-way ranging is performed between the two UWB modules to acquire distance information.
As a preferable aspect of the present invention, the two UWB modules are a UWB-a module and a UWB-B module in this order, the UWB-a module has a node a, the UWB-B module has a node B, the node a and the node B are transmitted through electromagnetic waves, and distance information between the node a and the node B is calculated based on a flight time of the electromagnetic waves in the air.
As a preferred aspect of the present invention, based on formula (1):
Figure DEST_PATH_IMAGE001
formula (1)
Calculating distance information between the node A and the node B, wherein:
tprop: the time difference of the electromagnetic wave flight needs to be measured;
tround 1: the time difference between the first message transmission and the second message transmission on the UWB-A module;
treply 1: the time difference between the first time when the UWB-B module replies the message and the second time when the UWB-B module replies the message;
tround 2: the time difference between the second time the UWB-A module sends the message to the third time;
treply 2: the time difference between the second reply message and the third reply message on the UWB-B module.
As a preferred scheme of the present invention, the distance information is optimized using open-source kalman filtering to obtain optimized distance information.
As a preferable scheme of the present invention, in step S4, the location information of the device D is obtained by using a trilateration algorithm, where the trilateration algorithm uses the following formula (2):
Figure 31155DEST_PATH_IMAGE002
formula (2)
Wherein:
Figure DEST_PATH_IMAGE003
、
Figure 761345DEST_PATH_IMAGE004
、
Figure DEST_PATH_IMAGE005
sequentially setting coordinates of the equipment A, the equipment B and the equipment C;
Figure 603399DEST_PATH_IMAGE006
coordinates of the device D;
the distances between the equipment D and the equipment A, the equipment B and the equipment C are D in sequence 1 、d 2 、d 3 ；
Solving the coordinates of the device D based on the above equation set
Figure DEST_PATH_IMAGE007
And obtaining the position information of the equipment D.
An assisted positioning device based on UWB implementation, comprising:
the system comprises four devices, namely a device A, a device B, a device C and a device D, wherein the device A, the device B and the device C are respectively provided with a GPS module so as to sequentially acquire the position information of the device A, the device B and the device C, the device A, the device B and the device C are also provided with a data network module so as to realize signal transmission, and the GPS module and the data network module perform wireless signal transmission; and
two UWB modules, equipment A, equipment B and equipment C are equipped with a UWB module jointly, be equipped with another UWB module in the equipment D, two carry out two-way range finding in order to obtain distance information between the UWB module.
Compared with the prior art, the invention has the beneficial effects that:
the invention combines the UWB positioning technology and the GPS positioning technology, has the technical effect of high measurement precision when positioning is realized by carrying out long-distance communication, and has high positioning precision by arranging two pieces of equipment carrying the UWB module, so that the equipment can carry out high-efficiency long-distance communication, and finally, high-precision distance measurement between the equipment is realized, and the distance measurement error is effectively reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of an assisted positioning method based on UWB implementation;
FIG. 2 is a schematic structural diagram of an auxiliary positioning apparatus based on UWB implementation;
FIG. 3 is a schematic diagram of node operation of node A and node B in an assisted positioning method based on UWB implementation;
fig. 4 is a schematic diagram of ranging between a UWB-a module and a UWB-B module in an assisted positioning method implemented based on UWB according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
Referring to fig. 1-4, the present invention provides the following technical solutions:
an auxiliary positioning device realized based on UWB is composed of four devices, namely a device A, a device B, a device C and a device D in sequence, wherein GPS modules are arranged in the device A, the device B and the device C to acquire the position information of the device A, the device B and the device C in sequence, data network modules are also arranged in the device A, the device B and the device C to realize signal transmission, and wireless signal transmission is carried out between the GPS modules and the data network modules;
the device A, the device B and the device C are provided with a UWB module together, the device D is provided with another UWB module, and two-way distance measurement is carried out between the two UWB modules to obtain distance information;
in this embodiment, GPS modules in the device a, the device B, and the device C are necessary, and in order to acquire the position information of the device a, the device B, and the device C, it is noted that two UWB modules are a UWB-a module and a UWB-B module in this order, the UWB-a module has a node a, and the UWB-B module has a node B;
an auxiliary positioning method realized based on UWB is applied to the device, and the method comprises the following steps:
step S1, acquiring location information of the device a, the device B, and the device C, specifically:
the method comprises the steps that position information of a device A, a device B and a device C is sequentially acquired based on GPS modules arranged in the device A, the device B and the device C;
step S2, device a, device B, device C, and device D communicate based on two UWB modules, and two-way ranging is performed between the two UWB modules to obtain distance information, specifically:
the device A, the device B and the device C are jointly provided with a UWB module, the device D is internally provided with another UWB module, two-way ranging is carried out between the two UWB modules to obtain distance information, the two UWB modules are a UWB-A module and a UWB-B module in sequence, the UWB-A module is provided with a node A, the UWB-B module is provided with a node B, the node A and the node B are transmitted through electromagnetic waves, and the distance information between the node A and the node B is calculated based on the flight time of the electromagnetic waves in the air;
this step relies on two-way communication between the two UWB modules, the device also measuring the time of flight of the UWB RF signal between them as they communicate;
referring to fig. 3, a node a and a node B respectively represent two UWB modules, and two-way ranging is performed between the two UWB modules, so that a two-way ranging scheme is applied between the two UWB modules, and a distance between the two UWB modules can be obtained, where the two-way ranging scheme is specifically:
two UWB modules are located at two points, and through the transmission of electromagnetic waves between the UWB-A module and the UWB-B module, the distance between the two points can be calculated by combining the flight arrival time with the light speed:
calculating the formula: distance = time of flight x speed of light
In fig. 3, the accuracy of a single measurement is improved by multiple bidirectional information exchanges, such as the ranging principle of asymmetric double-sided two-way ranging (asymmetric double-sided way ranging), in which:
Figure 546078DEST_PATH_IMAGE008
is the transmission timestamp that node a transmits the P message to node B;
Figure DEST_PATH_IMAGE009
receiving a message A information receiving timestamp sent by a node B by a node A;
Figure 422767DEST_PATH_IMAGE010
the node A sends the F message to the node B at last;
Figure DEST_PATH_IMAGE011
receiving a P message information receiving timestamp sent by the node A by the node B;
Figure 58279DEST_PATH_IMAGE012
is the transmission timestamp that node B transmits a message to node a;
Figure DEST_PATH_IMAGE014
the node B receives the F message sent by the node AAn information reception timestamp;
referring to fig. 4, node a and node B in principle can also be understood as UWB-a module and UWB-B module with two ends communicating;
the position distance information between the UWB-A module and the UWB-B module is calculated by calculating the flight time of electromagnetic waves in the air, the method can be used for accurately acquiring the distance between the devices without performing crystal oscillator synchronization between the UWB-A module and the UWB-B module, and the following formula is adopted for calculation, namely the formula (1) is adopted:
Figure 387629DEST_PATH_IMAGE015
formula (1)
Calculating distance information between a node A and a node B, wherein:
tprop: the time difference of the flight of the electromagnetic waves needs to be measured;
tround 1: the time difference between the first message transmission and the second message transmission on the UWB-A module;
treply 1: the time difference between the first time when the UWB-B module replies the message and the second time when the UWB-B module replies the message;
tround 2: the time difference between the second time the UWB-A module sends the message to the third time;
treply 2: the time difference between the second reply message and the third reply message on the UWB-B module;
calculating the distance between the two devices A and B by applying the two-way ranging scheme algorithm;
step S3, performing Kalman filtering optimization based on the distance information to obtain optimized distance information: the step of optimizing the calculated distance value between the equipment A and the equipment D, the calculated distance value between the equipment B and the equipment D and the calculated distance value between the equipment C and the equipment D by means of Kalman filtering to obtain a more accurate distance value;
a typical example of Kalman filtering is to predict the position coordinates and speed of an object from a finite observation sequence of the positions of the objects containing noise, and we obtain the position of the opposite device by two-way ranging, but the measured values of the position, speed and acceleration of the target often have errors at any time.
Here, the distance value between two devices which is calculated by using open source Kalman filtering is taken as an input parameter to obtain a value optimized by Kalman filtering, and the optimized distance value is more accurate than before;
step S4, obtaining device D location information based on the location information and the optimized distance information, specifically:
obtaining the position information of the device D by adopting a trilateration algorithm, wherein the trilateration algorithm adopts the following equation set as the following formula (2):
Figure DEST_PATH_IMAGE016
formula (2)
Wherein:
Figure 399579DEST_PATH_IMAGE017
、
Figure DEST_PATH_IMAGE018
、
Figure 130774DEST_PATH_IMAGE019
sequentially setting coordinates of the equipment A, the equipment B and the equipment C;
Figure DEST_PATH_IMAGE020
coordinates of device D;
the distances between the device D and the devices A, B and C are sequentially
Figure 937187DEST_PATH_IMAGE021
、
Figure DEST_PATH_IMAGE022
、
Figure 753834DEST_PATH_IMAGE023
；
Solving the coordinates of the device D based on the above equation set
Figure DEST_PATH_IMAGE024
And obtaining the position information of the device D.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. An auxiliary positioning method based on UWB implementation is characterized by comprising the following steps:
step S1, acquiring the position information of the equipment A, the equipment B and the equipment C;
step S2, device A, device B, device C and device D communicate based on two UWB modules, the device A, the device B and the device C are provided with one UWB module together, the device D is provided with another UWB module, and two-way distance measurement is carried out between the two UWB modules to obtain distance information;
s3, performing Kalman filtering optimization based on the distance information to obtain optimized distance information;
and S4, acquiring the position information of the device D based on the position information of the device A, the device B and the device C and the optimized distance information.
2. The assisted positioning method implemented based on UWB according to claim 1, wherein in step S1, the devices a, B and C are all provided with GPS modules to sequentially obtain the location information of the devices a, B and C, the devices a, B and C are also provided with data network modules to implement signal transmission, and the GPS modules and the data network modules perform wireless signal transmission.
3. An assisted positioning method based on UWB implementation according to claim 1, wherein the device A, the device B and the device C are provided with one UWB module together, the device D is provided with another UWB module, and two-way ranging is performed between the two UWB modules to obtain distance information.
4. An assistant positioning method based on UWB implementation according to claim 1, wherein two UWB modules are UWB-A module and UWB-B module in turn, the UWB-A module has node A, the UWB-B module has node B, the node A and the node B are communicated by electromagnetic wave, and distance information between the node A and the node B is calculated based on flight time of the electromagnetic wave in the air.
5. An assisted positioning method based on UWB implementation according to claim 4, characterized in that based on formula (1):
Figure 293199DEST_PATH_IMAGE001
formula (1)
Calculating distance information between the node A and the node B, wherein:
tprop: the time difference of the electromagnetic wave flight needs to be measured;
tround 1: the time difference between the first message transmission and the second message transmission on the UWB-A module;
treply 1: the time difference between the first time when the UWB-B module replies the message and the second time when the UWB-B module replies the message;
tround 2: the time difference between the second time when the UWB-A module sends the message and the third time when the UWB-A module sends the message;
treply 2: the time difference between the second reply message and the third reply message on the UWB-B module.
6. An assisted positioning method based on UWB implementation according to claim 1, wherein in the step S3, the distance information is optimized by using open source Kalman filtering to obtain optimized distance information.
7. An assisted positioning method based on UWB implementation according to claim 1, wherein in step S4, a trilateration algorithm is used to obtain device D location information, and the trilateration algorithm uses the following formula (2):
Figure 34890DEST_PATH_IMAGE002
formula (2)
Wherein:
Figure 294970DEST_PATH_IMAGE003
、
Figure 780309DEST_PATH_IMAGE004
、
Figure 809445DEST_PATH_IMAGE005
sequentially setting coordinates of the equipment A, the equipment B and the equipment C;
Figure 987616DEST_PATH_IMAGE006
coordinates of the device D;
the distance between the equipment D and the equipment A, the distance between the equipment B and the distance between the equipment D and the equipment C are sequentially
Figure 469413DEST_PATH_IMAGE007
、
Figure 24023DEST_PATH_IMAGE008
、
Figure 642086DEST_PATH_IMAGE009
；
Solving the coordinates of the device D based on the above equation set
Figure 991159DEST_PATH_IMAGE010
And obtaining the position information of the equipment D.
8. An auxiliary positioning device based on UWB implementation, applied to an auxiliary positioning method based on UWB implementation of any one of claims 1 to 7, the device comprising:
the system comprises four devices, namely a device A, a device B, a device C and a device D, wherein the device A, the device B and the device C are respectively provided with a GPS module for sequentially acquiring the position information of the device A, the device B and the device C, the device A, the device B and the device C are also provided with a data network module for realizing signal transmission, and the GPS module and the data network module perform wireless signal transmission;
two UWB modules, equipment A, equipment B and equipment C are equipped with a UWB module jointly, be equipped with another UWB module in the equipment D, two carry out two-way range finding in order to obtain distance information between the UWB module.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180067191A1 (en) * 2015-06-16 2018-03-08 Michael Hamilton Location Estimation System
CN108089576A (en) * 2017-09-08 2018-05-29 江苏添仂智能科技有限公司 A kind of positioning of suspension type unmanned vehicle based on UWB and control method
CN109874101A (en) * 2019-04-15 2019-06-11 东北大学 A kind of Indoor Positioning System Using Ultra Wideband Radio and method based on Kalman filtering
CN111757256A (en) * 2020-06-23 2020-10-09 华芯智能(珠海)科技有限公司 Indoor positioning method and device
CN112533149A (en) * 2020-11-27 2021-03-19 桂林理工大学 Moving target positioning algorithm based on UWB mobile node
US20220167117A1 (en) * 2020-11-24 2022-05-26 Aisin Corporation Position estimation method for mobile terminal, position estimation device for mobile terminal and position estimation system for mobile terminal

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180067191A1 (en) * 2015-06-16 2018-03-08 Michael Hamilton Location Estimation System
CN108089576A (en) * 2017-09-08 2018-05-29 江苏添仂智能科技有限公司 A kind of positioning of suspension type unmanned vehicle based on UWB and control method
CN109874101A (en) * 2019-04-15 2019-06-11 东北大学 A kind of Indoor Positioning System Using Ultra Wideband Radio and method based on Kalman filtering
CN111757256A (en) * 2020-06-23 2020-10-09 华芯智能(珠海)科技有限公司 Indoor positioning method and device
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