CN211554298U - Positioning device and positioning system - Google Patents
Positioning device and positioning system Download PDFInfo
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- CN211554298U CN211554298U CN201921962420.2U CN201921962420U CN211554298U CN 211554298 U CN211554298 U CN 211554298U CN 201921962420 U CN201921962420 U CN 201921962420U CN 211554298 U CN211554298 U CN 211554298U
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Abstract
The utility model provides a positioner and positioning system. Wherein, positioner includes: the positioning unit is used for receiving a positioning signal sent by the positioning label; the clock unit is used for sending or receiving a clock signal, and the communication frequency of the signals of the positioning unit and the clock unit is different; the positioning unit is connected with the clock unit through a clock synchronization line signal; and the main control unit is in signal connection with the positioning unit and the clock unit respectively so as to receive the positioning signals and the clock signals, and can send the positioning signals and the clock signals to the positioning calculation server respectively. The utility model provides an use TOA positioning method's the not high problem of positioner's positioning accuracy among the prior art.
Description
Technical Field
The utility model relates to a wireless positioning equipment field particularly, relates to a positioner and positioning system.
Background
The wireless positioning system generally comprises a positioning tag, a positioning base station (or positioning device), a positioning calculation server, a monitoring host and the like, wherein the positioning device described in the present proposal is the positioning base station. The wireless positioning technology is used for monitoring position information, track information and the like of people or objects in an area, is used for plant inspection, equipment inspection, material positioning and the like, and is widely applied to industries such as electric power, metallurgy, petrifaction and rail transit.
The current wireless positioning methods are mainly classified into tof (time of flight) and toa (time of arrival).
In the TOF positioning method, a plurality of positioning base stations measure the distance between each positioning base station and a positioning label, and the position of a positioned target is calculated by a triangle method. The TOF method is high in positioning accuracy, but the positioning tags can be communicated with surrounding positioning base stations for many times during each positioning, and the TOF method is limited by air message collision, so that the number of the positioning tags is limited.
The TOA positioning method is to calculate the position of the positioning label according to the arrival time of each positioning base station, although the positioning label is only required to send a positioning request once, each positioning base station also needs to perform clock synchronization between the base stations through a positioning signal transmission channel, so that the air collision between a clock synchronization signal and a positioning signal is aggravated, the clocks of each positioning base station cannot be accurately synchronized, the positioning accuracy is greatly reduced, and the positioning effect is influenced.
In the prior art, the problem that the positioning accuracy of a positioning device applying the TOA positioning method is not high mainly exists.
SUMMERY OF THE UTILITY MODEL
A primary object of the present invention is to provide a positioning device and a positioning system, which solve the problem of low positioning accuracy of the positioning device using the TOA positioning method in the prior art.
In order to achieve the above object, according to an aspect of the present invention, there is provided a positioning device including: the positioning unit is used for receiving a positioning signal sent by the positioning label; the clock unit is used for sending or receiving a clock signal, and the communication frequency of the signals of the positioning unit and the clock unit is different; the positioning unit is connected with the clock unit through a clock synchronization line signal; and the main control unit is in signal connection with the positioning unit and the clock unit respectively so as to receive the positioning signals and the clock signals, and can send the positioning signals and the clock signals to the positioning calculation server respectively.
Further, the positioning unit includes: the positioning antenna is in signal connection with the positioning tag; and the positioning information radio frequency device is respectively in signal connection with the positioning antenna, the clock synchronization line and the main control unit.
Further, the clock unit includes: a clock antenna for transmitting or receiving a clock signal; and the clock synchronization radio frequency device is respectively in signal connection with the clock antenna, the clock synchronization line and the main control unit.
Further, the main control unit includes: the main controller is respectively in signal connection with the positioning unit and the clock unit; and the data communication interface is respectively in signal connection with the master controller and the positioning calculation server.
Further, the data communication interface is a serial communication interface or a network communication interface.
Further, the positioning device is an ultra-wideband positioning device.
According to the utility model discloses an on the other hand provides a positioning system, including foretell positioner, and positioner is a plurality of, and positioning system still includes: the positioning tags are respectively in signal connection with the positioning tags and send positioning signals to any one of the positioning devices; and the positioning calculation server can send the received positioning signals and the clock signals to the plurality of positioning devices.
Further, the clock units of the positioning devices are in signal connection.
Further, the communication frequencies of the clock units of the plurality of positioning devices are the same.
Further, the clock unit of at least one of the plurality of positioning devices is capable of transmitting a clock signal to the clock units of the other positioning devices.
Use the technical scheme of the utility model, positioner in this application, include: the positioning unit is used for receiving a positioning signal sent by the positioning label; the clock unit is used for sending or receiving a clock signal, and the communication frequency of the signals of the positioning unit and the clock unit is different; the positioning unit is connected with the clock unit through a clock synchronization line signal; and the main control unit is in signal connection with the positioning unit and the clock unit respectively so as to receive the positioning signals and the clock signals, and can send the positioning signals and the clock signals to the positioning calculation server respectively.
When the positioning device with the structure is used, the positioning unit can receive the positioning signal, and the clock unit can receive the clock signal. Further, since the clock synchronization line is provided, the positioning unit and the clock unit can be clock-synchronized by the clock synchronization line. And finally, the main control unit simultaneously sends the positioning signals and the clock signals to a positioning calculation server so as to calculate the positions of the positioning labels. Therefore, the positioning device in the application effectively solves the problem that the positioning precision of the positioning device applying the TOA positioning method in the prior art is not high, and effectively improves the use performance of the positioning device.
Drawings
The accompanying drawings, which form a part of the present application, 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 invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic structural view of a positioning device according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating one mode of operation of the positioning device of the present application;
fig. 3 shows a flow chart of another mode of operation of the positioning device in the present application.
Wherein the figures include the following reference numerals:
10. a positioning unit; 11. positioning an antenna; 12. positioning an information radio frequency; 20. a clock unit; 21. a clock antenna; 22. a clock-synchronized radio frequency; 30. a clock synchronization line; 40. a main control unit; 41. a master controller; 42. a data communication interface.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
In the present application, where the contrary is not intended, the use of directional words such as "upper, lower, top and bottom" is generally with respect to the orientation shown in the drawings, or with respect to the component itself in the vertical, perpendicular or gravitational direction; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.
In order to solve the problem that a positioning device using a TOA positioning method in the prior art is low in positioning accuracy, the application provides a positioning device and a positioning system.
As shown in fig. 1, the positioning device in the present application includes: a positioning unit 10, configured to receive a positioning signal sent by a positioning tag; the clock unit 20 is used for sending or receiving clock signals, and the communication frequencies of the signals of the positioning unit 10 and the clock unit 20 are different; the clock synchronization line 30, the positioning unit 10 and the clock unit 20 are in signal connection through the clock synchronization line 30; and the main control unit 40, the main control unit 40 is respectively in signal connection with the positioning unit 10 and the clock unit 20 to receive the positioning signal and the clock signal, and the main control unit 40 can respectively send the positioning signal and the clock signal to the positioning calculation server.
When the positioning apparatus having the above-described configuration is used, the positioning unit 10 can receive the positioning signal, and the clock unit 20 can receive the clock signal. Further, since the clock synchronization line 30 is provided, the positioning unit 10 and the clock unit 20 can be clock-synchronized by the clock synchronization line 30. Finally, the main control unit 40 sends the positioning signal and the clock signal to the positioning calculation server at the same time, so as to calculate the position of the positioning tag. Therefore, the positioning device in the application effectively solves the problem that the positioning precision of the positioning device applying the TOA positioning method in the prior art is not high, and effectively improves the use performance of the positioning device.
The TOA method is mainly used in the positioning device in the present application. In addition, because the communication frequencies of the signals of the positioning unit 10 and the clock unit 20 are different, the air collision between the positioning signal and the clock signal is effectively avoided, thereby improving the service performance of the positioning device and improving the positioning accuracy.
Specifically, the positioning unit 10 includes a positioning antenna 11 and a positioning information radio 12. The positioning antenna 11 is in signal connection with the positioning label; the positioning information rf 12 is respectively connected to the positioning antenna 11, the clock synchronization line 30, and the main control unit 40. In the present application, the positioning antenna 11 is a communication device that transmits and receives positioning signals, and communicates with the positioning tag to transmit positioning data. The positioning information frequency transmitter transmits and receives positioning signals through the positioning antenna 11, and transmits the positioning signals or positioning data processed by the positioning signals to the main control unit 40.
Specifically, the clock unit 20 includes a clock antenna 21 and a clock synchronization radio 22. For transmitting or receiving a clock signal; the clock synchronization rf 22 is respectively connected to the clock antenna 21, the clock synchronization line 30, and the main control unit 40. In the present application, the clock antenna 21 is a communication device that transmits and receives a clock signal, and communicates with the clock antenna 21 on other positioning apparatuses in the positioning system. The clock synchronization rf 22 receives and transmits a clock signal through the clock antenna 21, and the clock synchronization rf 22 transmits the clock signal and transmits the clock signal to the main control unit 40.
Note that in the present application, the fact that the communication frequencies of the signals of the positioning unit 10 and the clock unit 20 are different means that the communication frequencies of the positioning antenna 11 and the clock antenna 21 are different.
Specifically, the main control unit 40 includes a main controller 41 and a data communication interface 42. The main controller 41 is respectively connected with the positioning unit 10 and the clock unit 20 through signals; the data communication interface 42 is respectively connected with the main controller 41 and the positioning calculation server through signals. In this application, the main control unit 40 controls the clock synchronization rf 22 to transmit and receive clock signals through the clock antenna 21, and transmits the received clock signals (or clock data) or the transmitted clock signals (or clock data) to the positioning calculation server through the data channel. The main control unit 40 also controls the positioning information rf 12 to transmit and receive positioning signals through the positioning antenna 11, and transmits the received positioning signals (or positioning data) to the positioning calculation server through the data communication interface 42.
Optionally, the data communication interface 42 is a serial communication interface or a network communication interface.
Fig. 2 shows an operation mode of the positioning device in the present application. First the clock synchronization rf 22 and the positioning information rf 12 synchronize clocks via a clock synchronization bus. Then, it is determined whether the positioning antenna 11 receives the positioning signal, after the positioning antenna 11 receives the positioning signal, the positioning information rf 12 transmits the positioning signal (or the positioning data) to the main controller 41, and the main controller 41 transmits the positioning signal (or the positioning data) to the positioning calculation server through the data communication interface 42. Meanwhile, the clock synchronization rf 22 transmits a clock signal through the clock antenna 21, the clock synchronization rf 22 transmits the transmitted clock signal (or clock data) to the master 41, and the master 41 transmits the clock signal (or clock data) to the positioning calculation server through the data communication interface 42. And the positioning calculation server calculates the position of the positioning tag according to the positioning signal (or the positioning data) and the clock signal (or the clock data).
Fig. 3 shows another mode of operation of the positioning device of the present application. First the clock synchronization rf 22 and the positioning information rf 12 synchronize clocks via a clock synchronization bus. Then, it is determined whether the positioning antenna 11 receives the positioning signal, after the positioning antenna 11 receives the positioning signal, the positioning information rf 12 transmits the positioning signal (or the positioning data) to the main controller 41, and the main controller 41 transmits the positioning signal (or the positioning data) to the positioning calculation server through the data communication interface 42. Meanwhile, whether the clock antenna 21 receives the clock signal is judged, after receiving the clock signal, the clock synchronization rf 22 transmits the transmitted clock signal (or clock data) to the master controller 41, and the master controller 41 transmits the clock signal (or clock data) to the positioning calculation server through the data communication interface 42. And the positioning calculation server calculates the position of the positioning tag according to the positioning signal (or the positioning data) and the clock signal (or the clock data).
In a particular embodiment of the present application, the positioning device is an ultra-wideband positioning device.
A hardware structure diagram of a positioning device based on UWB Ultra Wide Band (UWB) modules is mainly composed of an MCU, a network card, two groups of UWB modules and two antennas.
The MCU is a carrier for controlling the two groups of UWB modules and is also a carrier for communicating with the positioning calculation server.
The network card is a carrier for the MCU to communicate with the positioning calculation server, and the MCU transmits a positioning signal (or positioning data) and a clock signal (or clock data) to the positioning calculation server through a network.
The UWB module is a carrier for managing the antenna to receive and transmit signals, one group of UWB modules are responsible for receiving and transmitting positioning signals, the other group of UWB modules are responsible for receiving and transmitting clock signals, and the UWB modules receiving and transmitting clock signals synchronously receive and transmit clocks of the positioning signals.
The antenna is a carrier for receiving and transmitting signals, and the two antennas work at different communication frequencies respectively to avoid air collision of respective signals.
A UWB module-based positioning device software structure is composed of a uc/os-II operating system, a control module and a communication module, which are all operated on an MCU.
The control module controls the two groups of UWB modules to transmit and receive signals to and from the antennas managed by the UWB modules, and also controls the UWB modules which transmit and receive clock synchronization signals to synchronously transmit and receive clocks of the UWB modules for positioning signals.
The communication module is used for transmitting the positioning data and the clock synchronization data to the positioning calculation server through the Ethernet by the MCU.
The positioning system in this application, including foretell positioner, and positioner is a plurality of, positioning system still includes: the positioning tags are respectively in signal connection with the positioning tags and send positioning signals to any one of the positioning devices; and the positioning calculation server can send the received positioning signals and the clock signals to the plurality of positioning devices.
Specifically, the clock units 20 of the plurality of positioning devices are in signal connection.
Specifically, the communication frequencies of the clock units 20 of the plurality of positioning devices are the same. By so setting, the air collision of the positioning signal and the clock signal can be effectively prevented.
In addition, the problem of clock synchronization of the clock unit 20 among the plurality of positioning devices is solved by such an arrangement.
Specifically, the clock unit 20 of at least one of the plurality of positioning apparatuses is capable of transmitting a clock signal to the clock units 20 of the other positioning apparatuses.
Specifically, after the positioning device sending the clock signal receives the positioning signal, the positioning calculation server is configured to receive the positioning signal and send the clock signal to other positioning devices when receiving the positioning signal.
Specifically, after receiving the positioning signal, the positioning device receiving the clock signal can simultaneously transmit the positioning signal and the clock signal received when receiving the positioning signal to the positioning calculation server.
From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:
1. different antennas are respectively used for receiving and transmitting the positioning signal and the clock signal, so that the problem of low positioning precision of a positioning device applying the TOA positioning method is effectively solved;
2. the frequencies of the positioning antenna 11 and the clock antenna 21 are different, so that mutual interference is avoided;
3. the positioning precision is improved, and the positioning effect is improved.
It is obvious that the above described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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 (10)
1. A positioning device, comprising:
the positioning unit (10) is used for receiving a positioning signal sent by the positioning tag;
the clock unit (20) is used for sending or receiving a clock signal, and the communication frequency of the signals of the positioning unit (10) and the clock unit (20) is different;
a clock synchronization line (30), through which the positioning unit (10) and the clock unit (20) are signal-connected;
the main control unit (40), the main control unit (40) respectively with the positioning unit (10) with clock unit (20) signal connection, in order to receive the positioning signal with clock signal, just main control unit (40) can with the positioning signal with clock signal sends to the location calculation server respectively.
2. The positioning device according to claim 1, characterized in that the positioning unit (10) comprises:
the positioning antenna (11), the positioning antenna (11) is in signal connection with the positioning tag;
the positioning information radio frequency device (12), the positioning information radio frequency device (12) respectively with the positioning antenna (11), the clock synchronization line (30), the master control unit (40) signal connection.
3. The positioning device according to claim 1, wherein the clock unit (20) comprises:
a clock antenna (21) for transmitting or receiving the clock signal;
the clock synchronization radio frequency device (22), the clock synchronization radio frequency device (22) respectively with the clock antenna (21), the clock synchronization line (30), the master control unit (40) signal connection.
4. The positioning device according to claim 1, characterized in that the master control unit (40) comprises:
a master controller (41), wherein the master controller (41) is respectively connected with the positioning unit (10) and the clock unit (20) through signals;
a data communication interface (42), wherein the data communication interface (42) is respectively connected with the master controller (41) and the positioning calculation server through signals.
5. The positioning device according to claim 4, wherein the data communication interface (42) is a serial communication interface or a network communication interface.
6. The positioning device according to any of claims 1 to 5, characterized in that the positioning device is an ultra wide band positioning device.
7. A positioning system comprising the positioning device of any one of claims 1 to 6, and a plurality of the positioning devices, the positioning system further comprising:
the positioning tags are respectively in signal connection with the positioning devices and send positioning signals to any one of the positioning devices;
and the positioning devices can send the received positioning signals and clock signals to the positioning calculation server.
8. The positioning system according to claim 7, characterized in that a plurality of clock units (20) of the positioning device are in signal connection.
9. The positioning system according to claim 8, characterized in that the communication frequency of the clock units (20) of a plurality of the positioning devices is the same.
10. The positioning system according to claim 7, characterized in that a clock unit (20) of at least one of the positioning devices is capable of sending a clock signal to the clock units (20) of the other positioning devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921962420.2U CN211554298U (en) | 2019-11-13 | 2019-11-13 | Positioning device and positioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921962420.2U CN211554298U (en) | 2019-11-13 | 2019-11-13 | Positioning device and positioning system |
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| CN211554298U true CN211554298U (en) | 2020-09-22 |
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| CN201921962420.2U Active CN211554298U (en) | 2019-11-13 | 2019-11-13 | Positioning device and positioning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102021204374A1 (en) | 2021-04-30 | 2022-11-03 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | UWB localization with independent UWB anchor synchronization |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102021204374A1 (en) | 2021-04-30 | 2022-11-03 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | UWB localization with independent UWB anchor synchronization |
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